robot_state_publisher posting wrong tf tree (missing connections)
Dear ROS community,
I have the following problem:
I'm trying to simulate a robotic leg using ROS kinetic and Gazebo.
In order to get information about the current frame of each link I'm using the robot_state_publisher
. He's a subscriber of the /joint_states
topic and also receives information from the parameter robot_description
which is loaded as an parameter using the xacro
file, which describes the leg construction with all it's links and joints. He then publishes to the topic /tf
When I use the rqt_tf_tree
to check the tf_tree I have 3 unconnected tree structures as a result, two Joints are missing.
I first thought the xacro files would be incompleted, but I checked the robot_description
by using $ rosparam get /robot_description
E.g.
<joint name="joint_B1" type=" continuous">
<origin rpy="0 0.512690467 0" xyz="-0.05 -0.005 0"/>
<parent link="upper_leg"/>
<child link="connector_2"/>
<axis xyz="0 1 0"/>
<dynamics friction="0"/>
<limit effort="10" velocity="10"/>
</joint>
is one of the missing connections.
Do you guys have any suggestion where my problem could be?