Dear ros users,
probably we figured out a bug in the
robot_state_publisher (or are not using it correctly):
We are running a robot_state_publisher subscribed to
the /joint_states topic and using a urdf robot_description. The transformation
from joint_states with urdf to tf transformations works only if
a) the
joint information for the whole kinematic chain is published in one
joint_states message or
b) at
least there are no joints connected to a serial chain and published in
different joint_states messages.
In our case e.g. there is a gripper attached to an
arm. Both have rotary joints defined and are publishing joint_states in two
different joint_states messages, but tf can only be computed for the arm, not
for the gripper.
Is this a known behaviour (bug?) or are we missing
something?
Best regards,
Florian