Do I need a static transform publisher when I have a joint between 2 links?
Specific question
Do I need to publish a static_transform publisher
from one link frame to another when I already have a joint
defined in my URDf file between those 2 links?
Scenario
I'm trying to attach a Velodyne VLP-16
lidar on top of a MAV. I'm using the RotorS simulator ROS package for this purpose. I included the description xacro file for the lidar in this mav's file and initialised the <VLP-16>
macro. The macro establishes a joint
between the base_link
of the LIDAR and the base_link
of the MAV.
I realized I could not visualize the LIDAR data in RViz just by doing this. I had to run a static_transform_publisher node too, from the base_link
of the LIDAR and the base_link
of the MAV.
Shouldn't there be any need for the transform
between two frames
when I already have a joint
between the two links
?
Which launch file(s) are you using ? If you launch the node
robot_state_publisher
you shouldn't need astatic_transform_publisher
(assuming the link isfixed
, which it should be).