robot_state_publisher tf missing frames
I currently have a node publishing /joint_states messages with a urdf loaded to the param server.
When running the robot_state_publisher, I get the following output: (snapshot of ~88 Hz published message)
transforms: []
---
transforms:
-
header:
seq: 0
stamp:
secs: 1332281271
nsecs: 616639689
frame_id: /robot_j4
child_frame_id: /robot_tool_plate
transform:
translation:
x: -0.045
y: -0.3
z: 0.0
rotation:
x: 0.707106781185
y: 0.0
z: 0.0
w: 0.707106781188
---
The published joint_states message is (snapshot of 100 Hz published message):
header:
seq: 19372
stamp:
secs: 1332281452
nsecs: 512223606
frame_id: ''
name: ['robot_j1', 'robot_j2', 'robot_j3', 'robot_j4', 'robot_j5', 'robot_j6', 'robot_j7']
position: [0.021256590917843883, -2.0106822865351295, -0.024265641198750076, 3.1044362300610073, 0.18289162692677774, -0.089429498510240221, 0.042228138233154626]
velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05145228488671999]
effort: [-7.8622921298201127e-17, 15.941268784846988, -0.24966792233529578, -4.0081856483693521, -0.043474127200907126, -0.20694576889532121, -0.00066716196395994474]
---
I have checked the correctness of the urdf with the parser, and can verify that the urdf is correctly loaded on the param server with name: robot_description. The transform that it is publishing (robot_j4 -> robot_tool_plate) is a fixed joint, aka robot_state_publisher is not publishing any moveable joints.
Also, the urdf that I have loaded is a configuration with only four joints (robot_j1, robot_j2, robot_j3, robot_j4). Does the urdf have to directly correlate the published joint_states?
The joint_state messages are being published at 100Hz, is this too fast for the robot_state_publisher?
Thanks!