TF transform unknown_publisher

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Thank you for answering. I actually wrote a bash file and call it in the launch file to work around it. But that is helpful. I tried it . It also works.

Thank you

I actually wrote a bash file and call it in the launch file to work around it.

To work around what exactly?

To work around using TF in launch file, I use Bash file in launch file to do TF work

I don't understand why you'd have to start static_transform_publisher (STP) from a bash script. There are literally thousands of .launch files which include STP which don't have any problems with it.

I also don't understand how using a bash script to start STP and then starting that bash script from a .launch influences anything.

When I add "

<node pkg="tf" type="static_transform_publisher" name="to_camera" args="0 0 0 0 0 0 1 base_link body 100"/>
<node pkg="tf" type="static_transform_publisher" name="to_body" args="0 0 0.4 0 0 0 1 base_link body 100"/>

instead of using bash " <node name="foo" pkg="realsense2_camera" type="rs_tf.sh"/>"

The animation of the robot keeps flashing, and all the joints move all the time. It could be due to one launch file processing RVIZ and TF. If I run bash file with separate thread, the problem solves

<node pkg="tf" type="static_transform_publisher" name="to_camera" args="0 0 0 0 0 0 1 base_link body 100"/>
<node pkg="tf" type="static_transform_publisher" name="to_body" args="0 0 0.4 0 0 0 1 base_link body 100"/>

You're publishing two different tranforms connecting the same links (ie: base_link and body).

Those will conflict, leading to the problems you describe.

It works. Thank you, it was my bad...