Hi

Is there a simple way to publish a tf based on a joint defined in a SDF file. e.g.: I like to get the location of the hokuyo relative to the robot's chassis and I don't want to use a static publisher node. Greetings:

<?xml version='1.0'?>
<sdf version='1.4'>
  <model name="pioneer2dx_v4r">
    <include>
      <uri>model://pioneer2dx_ros</uri>
      <pose>0 0 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://hokuyo_ros</uri>
      <pose>0.25 0 0.1 0 0 0</pose>
    </include>
    <joint name="hokuyo_joint" type="revolute">
      <child>hokuyo::link</child>
      <parent>pioneer2dx::chassis</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>
  </model>
</sdf>