From 321b31dee286b10e11195a56550a66728a4bc6aa Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 11 Aug 2020 03:45:49 +0200
Subject: [PATCH 1/2] Absolem: Fixed publishing of static transforms.

---
 .../launch/vehicle_topics.launch                           | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
index 70e050a3..8dff1406 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
@@ -372,5 +372,12 @@
       </node>
     </group>
   </group>
+
+  <!-- As URDF->SDF conversion "swallows" all fixed joints (and thus static transforms), we need to re-create them from the URDF  -->
+  <!-- Due to an internal limitation of robot_state_publisher, it has to be created in the global namespace. -->
+  <node name="$(anon robot_state_publisher)" pkg="robot_state_publisher" type="robot_state_publisher">
+    <remap from="/tf" to="/nonexistent" /> <!-- published by ign_ros bridge -->
+    <remap from="robot_description" to="/$(arg name)/robot_description" />
+  </node>
   
 </launch>

From 0b63967a06f2bbd6ff693a6ec3c1d6b54b7024df Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 11 Aug 2020 03:46:15 +0200
Subject: [PATCH 2/2] Absolem: Return back publishing of left_track_j and
 right_track_j into joint states.

---
 .../ctu_cras_norlab_absolem_sensor_config_1/model.sdf           | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 4ca6247e..8465a5eb 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -3700,6 +3700,8 @@
       <rotation_angular_limit>1.618994</rotation_angular_limit>
     </plugin>
     <plugin name="ignition::gazebo::systems::JointStatePublisher" filename="libignition-gazebo-joint-state-publisher-system.so">
+      <joint_name>left_track_j</joint_name>
+      <joint_name>right_track_j</joint_name>
       <joint_name>front_left_flipper_j</joint_name>
       <joint_name>front_right_flipper_j</joint_name>
       <joint_name>rear_left_flipper_j</joint_name>