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" />
-- 
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