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osrf / vorc

Virtual Ocean Robot Challenge (VORC) resources
Apache License 2.0
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Some frames are missing the frame_id prefix #8

Closed mabelzhang closed 3 years ago

mabelzhang commented 3 years ago

As pointed out in https://github.com/osrf/vorc/pull/1#issuecomment-704442819, some frames are missing the cora/ prefix, leading to errors in RViz when the RobotModel is visualized:

No transform from [base_link] to [cora/base_link]
No transform from [dummy_link] to [cora/base_link]

This results in the robot model not being able to be visualized correctly.

To reproduce:

roslaunch vorc_gazebo marina.launch
roslaunch vorc_gazebo localization_example.launch
roslaunch vorc_gazebo rviz.launch

Add display type RobotModel, on topic cora/robot_description.

I'm also seeing a related issue on two sensor frames when TF is visualized:

No transform from [utm] to frame [cora/base_link]
No transform from [wamv/odom] to frame [cora/base_link]

To reproduce, add display type TF in RViz.