URDF model frames not published properly by robot_state_publisher
Hi.
I'm struggling with getting a URDF (or XACRO file to be exact) working with the robot_state_publisher. I know that it has been working when I made the file originally, but after updating and getting back to this project I simply can not get the robot_state_publisher to publish all the frames correctly.
You find the XACRO file as part of my repository here: https://github.com/mindThomas/JetsonC...
Try and clone the repository and build it with catkin and then run the rviz launch file. Or you can try and just run the robot_state_publisher on the xacro file output. Running a TF view_frames on the published frames gives the following incorrect result:
It seems like the problem is related to the revolute or continuous joints. At least if I replace these joints with fixed joints the frames are published correctly.
PS. I'm running ROS Kinetic on Ubuntu 16.04.
Best regards, Thomas Jespersen
Your problem is that you don't have all your tf published (those linked to the shafts) ?
Yes, agreed. But why doesn't the robot_state_publisher handle these missing ones (attached to the shafts) when the node seems to be publishing all the frames from the same URDF file nicely?
Well it's embarassing because when I run your code I had those tf published so it's not a problem with your code. I ran
roslaunch jetsoncar_description rviz.launchand thenrosrun rqt_tf_tree rqt_tf_treeWhat does "can not get the robot_state_publisher to publish all the frames correctly"? What are we supposed to see? Please describe that in your question text.
@Delb If I try to run
rosrun rqt_tf_tree rqt_tf_treeI get a segmentation fault.@gvdhoorn You are supposed to see both left and right bearings and wheels attached to the front shaft and left and right wheels attached to the rear shaft.
Here is what I get with your urdf and
rqt_tf_treeso you clearly have another issue. Try to do a simple urdf with multiples links to see if you have them all