Right now, the viz works by assuming the base link name supplied in a viz message is a child of world. This means that we must always specify visualizations wrt a particular robot link name, which is potentially not agnostic to the robot if this link name parameter is not exposed to the configuration file. we should allow for the world link to be specified to resolve this.
Right now, the viz works by assuming the base link name supplied in a viz message is a child of world. This means that we must always specify visualizations wrt a particular robot link name, which is potentially not agnostic to the robot if this link name parameter is not exposed to the configuration file. we should allow for the world link to be specified to resolve this.