Closed Wiktor-99 closed 6 months ago
The DiffDrive
plugin currently doesn't publish wheels TF. For that you need the JointStatePublisher
plugin and robot_state_publisher
on the ROS side. This also means, if you want to provide your own odom -> robot_base_frame
, you simply have to ignore the TF messages published by DiffDrive (by not bridging the topic).
Yes, you are right my assumptions were wrong, issue could be closed. Nevertheless when JointStatePublisher
and DiffDrive
are used EKF node dose not work with use_sim_time
param. Probably I messed up configuration, fortunately ros2_control worked for me.
Desired behavior
In the gazebo_ros_diff_drive publishing wheels TF and "odom" => "robot_base_frame" TF is split.
Is it even possible to implement such behavior in the Ignition Gazebo? If there is feasible solution I could work on that.
Additional context
There is problem when you want to use robot_localization pkg which also provides TF to "odom" => "robot_base_frame", propably most of the time users would like to use TF provided by robot_localization pkg instead of DiffDrive plugin.