robot_state_publisher tf fail.

edit

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 ...