gazebo & rviz synchronization
I'm trying to synchronize robot movements in gazebo and rviz. My robot is 2 wheels differential mobile robot, and it can be moved (controlled) in gazebo via /cmd_vel
. However, even when the robot moves in gazebo, not in rviz!
To solve this, I heard tf data should be published and tried to set gazebo publish joint state data of fixed joints (because joint state data of joints with actuator is published automatically). However, i got error saying Joint [joint name] doesn't exist!!
. When i run gazebo with launch file even though the joints EXIST.
To set gazebo publish joint state data of fixed joints, I add lines below to the robot xacro file.
<plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
<jointName>chassis_joint, caster_joint</jointName>
</plugin>
In the launch file, this code is there:
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
How can I fix it?