replace world_tf_publisher

ipa320 · Jul 5, 2022 · edd0f64 · edd0f64
1 parent f776e71
commit edd0f64
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Showing 5 changed files with 4 additions and 40 deletions.
diff --git a/cob_gazebo_worlds/CMakeLists.txt b/cob_gazebo_worlds/CMakeLists.txt
@@ -23,6 +23,6 @@ install(DIRECTORY Media launch test urdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
-catkin_install_python(PROGRAMS scripts/elevator.py scripts/tf_publisher.py
+catkin_install_python(PROGRAMS scripts/elevator.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
diff --git a/cob_gazebo_worlds/launch/display_world.launch b/cob_gazebo_worlds/launch/display_world.launch
@@ -14,6 +14,6 @@
 		<remap from="robot_description" to="world_description"/>
 	</node>
 
-	<node name="world_tf_publisher" pkg="cob_gazebo_worlds" type="tf_publisher.py"  respawn="false" output="screen" />
+	<node pkg="tf2_ros" type="static_transform_publisher" name="world_tf_publisher" args="0 0 0 0 0 0 1 map world" />
 
 </launch>
diff --git a/cob_gazebo_worlds/launch/world_urdf.xml b/cob_gazebo_worlds/launch/world_urdf.xml
@@ -27,7 +27,7 @@
 		 a gazebo_ros_control_plugin needs to be added ogether with an additional joint_state_controller -->
 		<include ns="world" file="$(find cob_gazebo_worlds)/launch/world_joint_state_publisher.launch"/>
 
-		<node name="world_tf_publisher" pkg="cob_gazebo_worlds" type="tf_publisher.py"  respawn="false" output="screen" />
+		<node pkg="tf2_ros" type="static_transform_publisher" name="world_tf_publisher" args="0 0 0 0 0 0 1 map world" />
 	</group>
 
 </launch>
diff --git a/cob_gazebo_worlds/package.xml b/cob_gazebo_worlds/package.xml
@@ -27,6 +27,7 @@
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>tf</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
   <exec_depend>velocity_controllers</exec_depend>
   <exec_depend>xacro</exec_depend>
 

diff --git a/cob_gazebo_worlds/scripts/tf_publisher.py b/cob_gazebo_worlds/scripts/tf_publisher.py