how to publish TF for fingers

[k-okada]

When I started from pepper_full.launch , it seems they are missing fingers. Whereas if we use pepper_full_py.launch we can see fingers. How do we fix them?

[Karsten1987]

It's the way we incorporated the robot state publisher inside the C++ bridge and parse the URDF. We simply copied the robot state publisher code to have a single executable for the bridge (cross-compilation via qibuild). I however can't tell you directly why the fingers are not parsed, since we publish dynamic and fixed transformations. You can have a look at this: https://github.com/ros-naoqi/naoqi_driver/blob/master/src/converters/joint_state.cpp#L93

The difference to the python bridge is thus that we execute the robot state publisher locally.