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Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers
BSD 3-Clause "New" or "Revised" License
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[Bug]: Missing tf link #31

Closed stephenadhi closed 1 year ago

stephenadhi commented 1 year ago

What happened?

Missing tf transformation from locobot/camera_tower_link to locobot/pan_link (frame somehow not detected). This causes the tf2 tree to split into two (see picture).

image

Robot Model

INTERBOTIX_XSLOCOBOT_BASE_TYPE=kobuki

Operating System

Ubuntu 22.04

ROS Distro

ROS 2 Humble

Steps To Reproduce

ros2 launch interbotix_xslocobot_sim xslocobot_gz_classic.launch.py robot_model:=locobot_base robot_name:=locobot

Relevant log output

No response

Additional Info

Tried to directly load pan_and_tilt in locobot.urdf.xacro by removing the IF condition for camera_tower_size. Same tf2 tree result.

lukeschmitt-tr commented 1 year ago

Let me know if f619f996f8c0b5413d2c7c1af8728976a88ea23c and 8a9c29117dbfac5ba936a229f042d03c14a6cab4 fix this issue.

stephenadhi commented 1 year ago

Yes, the missing link is solved now. Thanks for the quick response!