tf link missing

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Original report (archived issue) by dan (Bitbucket: dan77062).

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Trying to run the custom control example. The sim launches OK.
And x1.launch runs as long as the parameter
laser_enabled is set to false If it is set to true then this error occurs:

process[X1/spawn_x1_model-6]: started with pid [4455]
[ERROR] [1538532710.572949170]: Failed to build tree: child link [X1/base_laser_mount] of joint [laser_mount_joint] not found

It also fails if the parameter kinect_enabled is set to true In that case, this error is generated:

process[X1/twist_mux-5]: started with pid [4733]
[ INFO] [1538533048.515356940]: [twist_marker_server] Initialized.
[ERROR] [1538533048.522391765]: Failed to build tree: child link [X1/camera_link] of joint [kinect_frame_joint] not found

Looking at the tf tree when running without the laser or the kinect shows a disconnected tree. There is an odom ->base_link transform published by /X1/ekf_localization and there is a full tree published by /X1/robot_state_publisher that starts with X1/base_link but there is no connection between base_link and X1/base_link

[osrf-migration]

Original comment by dan (Bitbucket: dan77062).

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• Edited issue description

[osrf-migration]

Original comment by dan (Bitbucket: dan77062).

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• Edited issue description

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Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

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@dan77062, thanks for reporting the issue. See pull request #77.

The laser_enabled and kinect_enabled parameters shouldn't be used. Instead, you should use the appropriate environment variables for choosing your sensor configuration. See this document for further information. I removed them from the urdf.

Similarly, I removed the localization node. This shouldn't be part of the minimum example that we want to provide. Robot localization falls under the responsibility of each participant.

[osrf-migration]

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

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• set assignee_account_id to "557058:4ded1ddf-947e-4154-bbd1-3dba24f1bdbd"
• set assignee to "caguero (Bitbucket: caguero, GitHub: caguero)"

[osrf-migration]

Original comment by dan (Bitbucket: dan77062).

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• changed state from "new" to "resolved"

OK, if ekf is not running, then there will not be a broken tree.

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Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

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Merged in issue_09 (pull request #77)

Fix issue #9

Approved-by: Nathan Koenig natekoenig@gmail.com

→ <<cset 12686d8>>

[osrf-migration]

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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• changed state from "resolved" to "closed"