I have a *.xacro file which assembles my robot.

I have it do something for the sort:

baselink -> sensoryawjoint -> sensoryawlink -> sensorpitchjoint -> sensorpitchlink -> sensorjoint -> sensor_link

sensoryawjoint is a continuous joint. sensorpitchjoint is a revolute joint.

There is an actual coordinate transformation from the baselink to the sensoryawjoint. I have a problem where when I run the simulator, gazebo shows the object and appears to work... where rviz just shows the object at 0,0,0 and there is no tf. I don't understand how to write attach a controller to a joint, either. I wrote the controller that should control the sensoryawjoint and sensorpitch_joint with no luck of figuring out how to control these.

Rviz is saying my tree is: -sensorpitchlink -sensorlink -world -baselink -(other links)

Don't understand where sensoryawlink went and what is going on.

Any help would be appreciated.