Ugo, <div>Your symptoms suggest that your tree is being broken into two pieces. Usually this is a result of trying to attach two frames as parents of the same frame which is not allowed. Depending when you query it's a race condition as to which was updated more recently. Often it will appear as if only one is connected due to sequencing. </div>
<div><div><br></div><div>For debugging I'd suggest the following. Is the forearm the root of your transforms published by the robot_state_publisher? Can you attach the output of `rosrun tf view_frames` both before and after you run the static transfrom broadcaster? Also with the broadcaster running can you make sure that roswtf is not complaining about anything tf releated. </div>
<div><br></div><div>Tully<br><br><div class="gmail_quote">On Wed, Jun 9, 2010 at 9:51 AM, Ugo Cupcic <span dir="ltr"><<a href="mailto:ugo@shadowrobot.com">ugo@shadowrobot.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Hi,<br>
<br>
I'm having some problem displaying some /tf in rviz. I'm working on<br>
displaying a hand in rviz.<br>
<br>
Here is the situation:<br>
I have a robot_state_publisher transforming joint_datas to tf, and I can<br>
view the model in rviz, using a frame published by the<br>
robot_state_publisher (/srh/position/shadow_forearm). This works fine, I<br>
see my whole hand, I can move the fingers, etc...<br>
<br>
I'm then publishing a fixed transform: <node pkg="tf"<br>
type="static_transform_publisher" name="fixed_frame_pos_pub" args="0 0 0<br>
0 0 0 fixed /srh/position/shadow_forearm 20" /> which transforms the<br>
/srh/position/shadow_forearm to /fixed. This fixed transform is published.<br>
When I view this new /tf in rviz, the forearm goes to /fixed frame which<br>
is fine, but I get errors for all the other joints saying "No transform<br>
from [srh/position/lfdistal] to [/fixed]". The other joints are then not<br>
displayed (no transform).<br>
<br>
However, the transform from shadow_forearm to fixed is published and the<br>
transform from the rest of the joints to shadow_forearm are published as<br>
well.<br>
<br>
Any ideas ?<br>
<br>
(I hope I was clear :S)<br>
<br>
Cheers,<br>
<br>
Ugo<br>
<br>
--<br>
Ugo Cupcic | Shadow Robot Company | <a href="mailto:ugo@shadowrobot.com">ugo@shadowrobot.com</a><br>
Software Engineer 251 Liverpool Road<br>
need a Hand? London N1 1LX | +44 20 7700 2487<br>
<a href="http://www.shadowrobot.com/hand/" target="_blank">http://www.shadowrobot.com/hand/</a> @shadowrobot<br>
<br>
<br>
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</blockquote></div><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>(650) 475-2827<br>
</div></div>