URDF transform to world fails
Hey everyone,
I am working on a project where i connect a robotiq 85 2f gripper to a ur10. I did this by making an urdf (xacro) file that describes my toplevel system. In the urdf I include the UR10 and gripper urdf. Then i link them together as follows:
<joint name="gripper_joint" type="fixed">
<parent link="fts_robotside"/>
<child link="robotiq_85_base_link"/>
<origin xyz="0.0 -0.01 0.03" rpy="1.5706 -1.5706 0.0" />
</joint>
When i launch the launch file which uploads this urdf to param server and launches rviz it gets weird.
My "robotiq_85_base_link" gets visualized like it should, but the links following: "robotiq_85_left_finger_link" "...left_finger_tip_link" "...right_finger_link" and "...right_finger_tip_link" are not displayed in rviz but instead appear in white at the center of the "world".
If i click my robot model it says: "No transform from [robotiq_85_left_finger_link] to [world]" for all the links. How can i fix this?
I noticed that if i make a static_transform_publish node where i connect the link tf's to the parents tf's it would work, but this is not the right way to do it is it?
Some general info:
ubuntu 16.04
ros kinetic
RViz version 1.12.17 (kinetic). Compiled against Qt version 5.5.1. Compiled against OGRE version 1.9.0 (Ghadamon)
Kind regards Jan Tromp.