Comments (2)
azeey
commented on June 16, 2024
The DiffDrive plugin currently doesn't publish wheels TF. For that you need the JointStatePublisher plugin and robot_state_publisher on the ROS side. This also means, if you want to provide your own odom -> robot_base_frame, you simply have to ignore the TF messages published by DiffDrive (by not bridging the topic).
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Wiktor-99
commented on June 16, 2024
Yes, you are right my assumptions were wrong, issue could be closed. Nevertheless when JointStatePublisher and DiffDrive are used EKF node dose not work with use_sim_time param. Probably I messed up configuration, fortunately ros2_control worked for me.
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