robot_state_publisher tf fail.
map -> odom odom -> base_link succeeds in passing tf.
However, it fails to pass from base_footprint to base_link.
For example, when I check the tf tree: Broadcaster: / robot_state_publisher Average rate: 10000.0 Buffer lenth: 0.0 Most recent transform: 0.0 Oldest transform: 0.0
I wonder why I can not receive the data.
--- URDF File ---
<robot name = "robot">
<link name = "base_footprint" />
<parent link = "base_footprint" />
<child link = "base_link" />
<origin xyz = "0.0 0.0 0.010" rpy = "0 0 0" />
<parent name = "base_joint" / joint>
<link name = "base_link">
<visual>
<geometry>
<box size = "0.5 .26 .04" />
</geometry>
<origin rpy = "0 0 0" xyz = "0 0 0.075" material name = "body">
<color rgba = "1.0 0.423529411765 0.0392156862745 1.0" />
</material>
</visual>
</link>
<link name="wheel_left1">
<parent link="base_link"/>
<visual>
<geometry>
<cylinder length="0.04" radius="0.065"/>
</geometry>
<origin rpy="1.57 0 0" xyz="0.20 0.14 0.065"/>
<material name="wheel">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
</visual>
</link>
<link name="wheel_right1">
<visual>
<geometry>
<cylinder length="0.04" radius="0.065" />
</geometry>
<origin rpy="1.57 0 0" xyz="0.20 -0.14 0.065" />
<material name="wheel">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</visual>
</link>
<link name="wheel_left2">
<parent link="base_link" />
<visual>
<geometry>
<cylinder length="0.04" radius="0.065" />
</geometry>
<origin rpy="1.57 0 0" xyz="-0.20 0.14 0.065" />
<material name="wheel">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</visual>
</link>
<link name="wheel_right2">
<visual>
<geometry>
<cylinder length="0.04" radius="0.065" />
</geometry>
<origin rpy="1.57 0 0" xyz="-0.20 -0.14 0.065" />
<material name="wheel">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</visual>
</link>
<link name="base_scan">
<visual>
<geometry>
<cylinder length="0.08" radius="0.05" />
</geometry>
<origin rpy="0 0 0" xyz="0.20 0 0.10" />
<material name="laser">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</visual>
<sensor name="base_scan" update_rate="20">
<parent link="base_link" />
<origin xyz="0.2 0 0.5165" rpy="0 0 0" />
<ray>
<horizontal samples="100" resolution="1" min_angle="-1.5708" max_angle="1.5708" />
<vertical samples="1" resolution="1" min_angle="0" max_angle="0" />
</ray>
</sensor>
</link>
<joint name="joint1" type="fixed">
<parent link="base_link" />
<child link="wheel_left1" />
<origin xyz="0 0 0" />
</joint>
<joint name="joint2" type="fixed">
<parent link="base_link" />
<child link="wheel_right1" />
<origin xyz="0 0 0" />
</joint>
<joint name="joint3" type="fixed">
<parent link="base_link" />
<child link="wheel_left2" />
<origin xyz="0 0 0" />
</joint>
<joint name="joint4" type="fixed">
<parent link="base_link" />
<child link="wheel_right2" />
<origin xyz="0 0 0" />
</joint>
<joint name="joint5" type="fixed">
<parent link="base_link" />
<child link="base_scan" />
</joint>
</robot>
rviz related files
<launch>
<arg name="model" default="$(find dynamixel_workbench_operators)/urdf/robot.urdf" />
<arg name="gui" default="False" />
<param name="robot_description" textfile="$(arg model)" />
<param name="use_gui" value="$(arg gui)" />
<node pkg="dynamixel_workbench_operators" type="wheel_test" name="wheel_test"/>
<node name="joint_state_publisher" pkg="joint_state_publisher ...
Can you please translate your question to English? As this is an English-language site