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Absolem: Fix static transforms and joint states #543

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Absolem: Fix static transforms and joint states #543

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321b31d
Absolem: Fixed publishing of static transforms.
peci1 Aug 11, 2020
0b63967
Absolem: Return back publishing of left_track_j and right_track_j int…
peci1 Aug 11, 2020
2fa7230
Merge branch 'master' into absolem_fix_tf
peci1 Feb 10, 2021
3d4ec12
Merge branch 'master' into absolem_fix_tf
peci1 Mar 3, 2021
79e48f8
Merge branch 'master' into absolem_fix_tf
peci1 Apr 10, 2021
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10 changes: 9 additions & 1 deletion submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -420,10 +420,18 @@
<remap from="/model/$(arg name)/breadcrumb/deploy/remaining" to="breadcrumb/remaining"/>
</node>
</group>

<!-- Mapping Server -->
<include file="$(find subt_ros)/launch/models_common/mapping_server_relays.launch">
<arg name="name" value="$(arg name)"/>
</include>
</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>
2 changes: 2 additions & 0 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
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Expand Up @@ -3558,6 +3558,8 @@
<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>
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