From 86533744163d000fbf5c013084df219503bcd80a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Sebastian=20Wallk=C3=B6tter?= <sebastian@wallkoetter.net> Date: Tue, 14 Jan 2020 15:04:14 +0100 Subject: [PATCH] Add static transform publisher (#51) --- launch/panda_control_moveit_rviz.launch | 3 +++ 1 file changed, 3 insertions(+) diff --git a/launch/panda_control_moveit_rviz.launch b/launch/panda_control_moveit_rviz.launch index 748f260..ddfdcc9 100644 --- a/launch/panda_control_moveit_rviz.launch +++ b/launch/panda_control_moveit_rviz.launch @@ -1,5 +1,8 @@ <?xml version="1.0" ?> <launch> + <!-- 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 world panda_link0" /> + <arg name="robot_ip" /> <arg name="load_gripper" default="true" /> <arg name="launch_rviz" default="true" /> -- GitLab