Empty transforms using Robot State Publisher

edit

Hi guys,

I'm trying to broadcast moving joint states using my robot state publisher. I echoed the topic on which I broadcast my state, all I get is :

transforms: []
---

Here's my code section responsible for broadcasting the state :

auto transforms = std::map<std::string, double>();
        while (publish) {
            transforms.insert(std::make_pair("base_link", controller->getJointCurrentAngle(
                    Controller::JOINT_ID(Controller::JOINT::BASE_JOINT_ID))));
            transforms.insert(std::make_pair("joint_1", controller->getJointCurrentAngle(
                    Controller::JOINT_ID(Controller::JOINT::SHOULDER_JOINT_ID))));
            transforms.insert(std::make_pair("joint_2", controller->getJointCurrentAngle(
                    Controller::JOINT_ID(Controller::JOINT::ELBOW_JOINT_ID))));
            transforms.insert(std::make_pair("joint_3", controller->getJointCurrentAngle(
                    Controller::JOINT_ID(Controller::JOINT::WRIST_JOINT_ID))));
            publisher.get()->publishTransforms(transforms,ros::Time::now(),"");
            transforms.clear();
            usleep(1000);
        }

When I use publishFixedTransform("") instead of publishTransforms, I get my transforms correctly published to the topic, but I cannot move them since I use a KDL tree from an URDF file to create my robot model.

Do you guys have any tip of what I'm doing wrong ?

Thanks !