URDFSpawner does not preserve link names, messing the TF tree when using the ros2_webots_driver with robot_state_publisher

[PymZoR]

Describe the Bug All links are converted into Solids which have names "Solid[N]" instead of their original name in the URDF file.

Steps to Reproduce Consider the following urdf :

<?xml version="1.0"?>
<robot name="myrobot"
    xmlns:xacro="http://ros.org/wiki/xacro">

    <!-- BASE LINK -->
    <link name="base_link">
        <visual>
            <origin xyz="0 0 0.075" />
            <geometry>
                <box size="0.3 0.3 0.15" />
            </geometry>
        </visual>
        <collision>
            <origin xyz="0 0 0.075" />
            <geometry>
                <box size="0.3 0.3 0.15" />
            </geometry>
        </collision>
    </link>

    <joint name="laser_link_joint" type="fixed">
        <parent link="base_link" />
        <child link="laser_link" />
        <origin xyz="0 0 1" />
    </joint>

    <!-- LINK2 -->
    <link name="laser_link">
        <visual>
            <origin xyz="0 0 0.075" />
            <geometry>
                <box size="0.3 0.3 0.15" />
            </geometry>
        </visual>
        <collision>
            <origin xyz="0 0 0.075" />
            <geometry>
                <box size="0.3 0.3 0.15" />
            </geometry>
        </collision>
    </link>
</robot>

The link laser_link is turned into Solid0 (cf screenshot). The workaround is to set the parameter "set_robot_state_publisher": False for the webots_ros2_driver ROS node, and populate /robot_description by hand. This is regrettable !

Expected behavior Original names should be preserved.

Affected Packages List of affected packages:

• webots_ros2_driver

Screenshots

System

• Webots Version: R2023a for macOS
• ROS Version: Humble
• Operating System: Ubuntu jammy in docker, host macOS Monterey 12.2.1, using local_simulation_server.py

[bonnuite]

The problem is still unresolved and what is more than regrettable, is that on _https://github.com/cyberbotics/webots_ros2/wiki/Example-Universal-Robots_ has nothing mentioned about this serious issue.

System: Webots Version: R2023b for Ubuntu ROS Version: ROS2 Humble Operating System: Ubuntu 22.04.3 LTS in VMware Workstation 16