gazebo_ros_laser and tf questions
This is a demo robot_desecription file
<launch>
<param name="robot_description"
command=" $(find xacro)/xacro $(find cobot_description)/urdf/cobot.urdf.xacro" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<!--<node pkg="tf" type="static_transform_publisher" name="laser_broadcaster" args="0 0.4 0.18 1.57 0 0 base_link laser_link 100" />
<node pkg="tf" type="static_transform_publisher" name="imu_broadcaster" args="0 0 0.18 0 0 0 base_link imu_link 100" />-->
</launch>
as you can see here robot_state_publisher publish tf for each joint,but not fixed joints,like this.
fixed joint:TF base_link->lase_link
Broadcaster: /robot_state_publisher
Average rate: 10000.000 Hz
Most recent transform: 0.000 ( 1557130482.917 sec old)
Buffer length: 0.000 sec
in addition,scan message generated by gazebo plugin has incorrect timestamps:
header:
seq: 11173
stamp:
secs: 3042
nsecs: 503000000
frame_id: "laser_link"
the secs have only 4 digits which results in dropping by others for that it's too old; Any guys could give me some suggestions?Appreciate man!