Incomplete tf tree

[rlkamalapurkar]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   • [X] Burger
   • [ ] Waffle
   • [ ] Waffle Pi

2. Which ROS is working with TurtleBot3?

   • [ ] ROS 1 Kinetic Kame
   • [ ] ROS 1 Melodic Morenia
   • [X] ROS 1 Noetic Ninjemys
   • [ ] ROS 2 Dashing Diademata
   • [ ] ROS 2 Eloquent Elusor
   • [ ] ROS 2 Foxy Fitzroy
   • [ ] etc (Please specify your ROS Version here)

3. Which SBC(Single Board Computer) is working on TurtleBot3?

   • [ ] Intel Joule 570x
   • [X] Raspberry Pi 3B+
   • [ ] Raspberry Pi 4
   • [ ] etc (Please specify your SBC here)

4. Which OS you installed on SBC?

   • [X] Raspbian distributed by ROBOTIS
   • [ ] Ubuntu MATE (16.04/18.04/20.04)
   • [ ] Ubuntu preinstalled server (18.04/20.04)
   • [ ] etc (Please specify your OS here)

5. Which OS you installed on Remote PC?

   • [ ] Ubuntu 16.04 LTS (Xenial Xerus)
   • [ ] Ubuntu 18.04 LTS (Bionic Beaver)
   • [X] Ubuntu 20.04 LTS (Focal Fossa)
   • [X] Windows 10
   • [ ] MAC OS X (Specify version)
   • [ ] etc (Please specify your OS here)

6. Specify the software and firmware version(Can be found from Bringup messages)

   • Software version: [x.x.x]
   • Firmware version: [x.x.x]

7. Specify the commands or instructions to reproduce the issue.

   • Launch the RviZ simulator
     • roslaunch turtlebot3_fake turtlebot3_fake.launch
   • Visualize the tf tree
     • rosrun rqt_tf_tree rqt_tf_tree
   • Exit the RviZ simulator
   • Launch the Gazebo simulator
     • roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
   • Visualize the tf tree
     • rosrun rqt_tf_tree rqt_tf_tree

8. Copy and Paste the error messages on terminal.

   • none

9. Please describe the issue in detail.

   • The RviZ simulation publishes a complete tf tree.

   • The Gazebo simulation only publishes odom and base_footprint frames.

   • Is this intentional? What can I do to get the Gazebo simulation to publish the complete tf tree?

[rlkamalapurkar]

I just found out that the tf tree published by the real TurtleBot3 is identical to the Gazebo version, just odom and base_footprint. Why doesn't the TurtleBot3 publish all the other transformations that the fake node does?

[A1exan10er]

Is it because you're using a 3rd party LIDAR?

I met a similar problem in Rviz using ROS2 Foxy. In Rviz it showed several TF warnings that "no information was transfered from [...] to [map]". Then I checked the code of lidar itself and found nothing related to the TF node. So it means robot doesn't know anything other than the 2D point clouds.

Maybe you need to write this part by yourself.