gazebo_ros_laser and tf questions

asked 2019-05-06 04:24:17 -0500

hustermxx gravatar image

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!

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