transformation lost when using spinning lidar

[libing64]

I tried to add the spinning Hokuyo lidar to the quadrotor, here is the urdf file spawn_quadrotor_with_spinning_lidar.urdf.xacro.txt

However, the transformation between ${name}_spinning_lidar_spin_link and ${name}_spinning_lidar_root_link is lost.

In gazebo, the lidar is on the quadrotor and rotating.

In rviz, the lidar is not on the quadrotor because the transformation between xx_spinning_lidar_root_link and xx_spinning_lidar_root link is lost.

Here is the tf_tree.

It seems that the transformation is defined in spinning_hokuyo_utm30lx.urdf.xacro, but why it doesn't work?

[libing64]

I think I have understood the designer's thoughts. The transformation between the root link and the spin link can be defined by the user, so I add a tf_broadcaster to transform the transformation. It works now.