Using ROS Toolbox to publish transforms between 2 frames on topic /tf_static but RVIZ doesn't recognize them.

Hello there!

I'm using ROS Toolbox to publish the transform between two frames. This involves using the tf2_msgs/TFMessage message on the /tf_static topic, with the frame_id set to 'Mutter' and the child_frame_id set to 'Tchter', as shown in the picture:

Simulink publishes the transforms just fine and it's visible on my Virtual Machine

The problem is neither RVIZ nor tf_ros package recognize these frames, as shown below.

Answer 1

[Josh Chen]

Hi Abdulrahman,

Given that you are able to see the correct message in virtual machine, I believe the message modeling is correct.

One thing I did not see in the problem statement is the QoS setting on the Publish block mask.

Since you are publishing to "/tf_static", I believe at least the "Durability" should be set to "transient_local". If you haven't done so, you can try to:

1. Double click to open "Publish" block mask
2. Change "Durability" to "Transient local"

In addition, for "/tf_static", you just need to publish it once. Hence, one optimization is to put all your blocks into a "Initialize Function" block. This ensures it will only be published once instead of publishing in each time step during simulation.

Hope this helps,

Josh