ros-controls / ros-controls/ros2_controllers
Odd QOS for Diff Drive TF Publication
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- Dominant language
- C++
- Stars
- 834
- Forks
- 530
- Avg merge
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- Merged PRs (30d)
- 19
Description
Describe the bug
Is there a particular reason why the TF is published directly using a publisher rather than TF Broadcaster? Publishing it with a custom publisher / custom QOS settings does not play nicely with other systems.
To Reproduce
ros2 launch gazebo_ros2_control_demos diff_drive.launch.py- Attempt to visualize TF in rviz2
Expected behavior
Full transform from /odom to all other links.
Actual behavior
Full transforms not published, most frequently failing to publish odom -> base_link/chassis (See https://github.com/ros-controls/gazebo_ros2_control/pull/224)
Environment (please complete the following information):
- OS: Ubuntu 20.04
- Version Foxy
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start in diff_drive_controller/src/diff_drive_controller.cpp at the TF publication around lines 443-444, then reproduce with ros2 launch gazebo_ros2_control_demos diff_drive.launch.py and inspect the result in rviz2. Compare the current publication behavior and QoS with the linked gazebo_ros2_control report. Done means the complete /odom-to-link transform is visible reliably, including odom to base_link or chassis.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Bug
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 45/100