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jhu-dvrk / dvrk-ros

daVinci Research Kit ROS stack. See dVRK wiki to get started: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
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Use PoseStamped for set_base_frame #40

Closed brendanburkhart closed 2 years ago

brendanburkhart commented 2 years ago

Use PoseStamped rather than Pose for set_base_frame. Otherwise using set_base_frame results in the robot having a nameless reference frame, which causes tf to reject the base frame transform:

Error: TF_NO_FRAME_ID: Ignoring transform with child_frame_id "PSM3" from authority "/dvrk_1659992630125592185" because frame_id not set

adeguet1 commented 2 years ago

We should apply a similar patch to the ROS 2 repository.