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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:, 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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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?

HJaiswal gravatar imageHJaiswal ( 2020-07-21 08:54:11 -0500 )edit

Have you guys found a solution for that?

igricart gravatar imageigricart ( 2021-03-05 02:30:38 -0500 )edit

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answered 2021-03-05 02:56:55 -0500

igricart gravatar image

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

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

Seen: 1,567 times

Last updated: Jan 15 '18