Hi,

I'm using ros2 foxy version and I would like to move my robot both in rviz and gazebo simulation. I am able to move the robot in Gazebo, however only odom frame is moving in RVIZ and it seems moving randomly.

I have seen some posts regarding tf2 package but I did not understand. Should I write broadcasting or listening code functionality for every joint frame? The urdf file of the robot and my launch file can be found on the link .

The link includes TF tree diagram as well. Thanks for any advice.