Hi,

I am working with a Kuka robot. When I launch youbot drivers everything works right and I can control platform movement with a remote joystick. But, when I execute:

rosrun tf tfecho baselink base_footprint

Seems like tf transformation from basefootprint to baselink is not working as parameters do not change when platform moves (they remain 0.000 0.000 0.000 1.000). The package used for publishing robot state is "robotstatepublisher". Tf tree is like follows:

odom -> basefootprint -> baselink -> ...

Tf transformations between odom and base_footprint are working well. So, I tried to run a static transform publisher executing:

rosrun tf statictransformpublisher 0 0 -0.5 0 0 0 basefootprint baselink 100

But it does not work. Although, if I add the Tf in Rviz, it can be seen base_link axis constantly moving (blinking) from its original position to a position -0.5 below. So, I do not know what is happening. Maybe the problem is that there are two publications of tf at the same time. In that case, I would like to know how could I delete or modify one.