Real robot - TurtleBot3 - no wheels in tf tree

[peterborkuti]

Hi,

Yesterday evening (between 22:00 and 23:00) I tried the real robot lab and the TF tree did not have the wheels.

Can you check?
Thank you in advance
Péter

[duckfrost2]

Hi,

are they supposed to appear? Because wheels unless the encoder system publishes their current configuration, the TFs wont be there.

In simulation the wheels normally ar there because the differential drive plugin is the one in charge of doing that TF publication and joint state publication.

[peterborkuti]

Hi,

Thanks, I do not know.
So it is probably not a bug. This is the first (second) time when I used real robot, so I have no experience.
I will check today again and if the robot works, I will close this question.
Péter