Since we have two state publishers running at the same time, the changes I made in #53 lead to two rivalling tf states for the PTU when it was not at 0,0. As for the robot state publisher, the chest state publisher is now launched in its own namespace chest and has its own xarco file in chest/robot_description
The global parameter /robot_description, initially set in the scitos_description package, is now overridden by the content of the scitos_all_robot_model.xarco file. this includes the scitos.xarco from scitos_description and the chest camera model. Sadly, I cannot just include the scitos.xarco and scitos_chest_camera.xarco because both define base_link.
Long story short, the default behaviour is the same as before. If the navigation is started without 3D obstacle avoidance, the robot model set in scito_description is used. if it is started with 3D obstacle avoidance the model including the chest cam is used.
The tf tree seems to be stable again.
See https://github.com/strands-project/scitos_common/pull/53
Since we have two state publishers running at the same time, the changes I made in #53 lead to two rivalling tf states for the PTU when it was not at 0,0. As for the robot state publisher, the chest state publisher is now launched in its own namespace
chestand has its own xarco file inchest/robot_descriptionThe global parameter
/robot_description, initially set in the scitos_description package, is now overridden by the content of thescitos_all_robot_model.xarcofile. this includes the scitos.xarco from scitos_description and the chest camera model. Sadly, I cannot just include thescitos.xarcoandscitos_chest_camera.xarcobecause both definebase_link.Long story short, the default behaviour is the same as before. If the navigation is started without 3D obstacle avoidance, the robot model set in scito_description is used. if it is started with 3D obstacle avoidance the model including the chest cam is used. The tf tree seems to be stable again.
@RaresAmbrus or @nilsbore please test.