Robotics StackExchange | Archived questions

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

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?

Asked by bybee.taylor on 2018-01-15 18:17:51 UTC

Comments

I have the same issue. Only fixed joints show in rviz while continuous and prismatic joints are detached. Were you able to solve the issue?

Asked by HJaiswal on 2020-07-21 08:54:11 UTC

Have you guys found a solution for that?

Asked by igricart on 2021-03-05 03:30:38 UTC

Answers

The solution I found is to add <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> to your launch file in case you are also using ROS

Asked by igricart on 2021-03-05 03:56:55 UTC

Comments