Hi,
I am working with a Kuka robot. When I launch youbot drivers everything works right and I can control platform movement with a remote joystick. But, when I execute:
rosrun tf tf_echo base_link base_footprint
Seems like tf transformation from base_footprint to base_link is not working as parameters do not change when platform moves (they remain 0.000 0.000 0.000 1.000). The package used for publishing robot state is "robot_state_publisher". Tf tree is like follows:
odom -> base_footprint -> base_link -> ...
Tf transformations between odom and base_footprint are working well. So, I tried to run a static transform publisher executing:
rosrun tf static_transform_publisher 0 0 -0.5 0 0 0 base_footprint base_link 100
But it does not work. Although, if I add the Tf in Rviz, it can be seen base_link axis constantly moving (blinking) from its original position to a position -0.5 below. So, I do not know what is happening. Maybe the problem is that there are two publications of tf at the same time. In that case, I would like to know how could I delete or modify one.
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