Why do the non-fixed joints appear unattached, and not connected into the ROS TF tree?

asked 2018-01-15 17:17:51 -0500

bybee.taylor gravatar image

I've generated a URDF model of a vehicle, and, upon starting the simulation, the wheels appear unattached to the vehicle and fly all over. Correspondingly in RVIZ, the TF tree only has the fixed joints present. My joints are of type continuous and revolute, with only a single fixed joint (base_link to chassis). It appears that all my joint limits are reasonable (verified in urdf-viz: https://github.com/OTL/urdf-viz), and in the proper place when Gazebo is paused upon startup. Masses and inertias appear to be correct.

Any obvious reason why this is happening?

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