fixing the virtual joint issue by adding the broadcaster (#23)

6ae03fac · Mike Lautman · Dave Coleman · d97b987a · 6ae03fac
Commit 6ae03fac authored 6 years ago by Mike Lautman Committed by Dave Coleman 6 years ago
--- a/launch/demo.launch
+++ b/launch/demo.launch
@@ -25,7 +25,7 @@
  </include>

  <!-- If needed, broadcast static tf for robot root -->
-
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 1 world panda_link0" />

  <!-- We do not have a robot connected, so publish fake joint states -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">