robot doesnt appear on ubuntu20.04 foxy

[Jixyuxn]

robot doesnt appear.
i already do rebuild and any solution on this repo(issue) anyone can help me?

[AkshayLaddha943]

I had the same issue in Ubuntu 20.04, I changed the launch file and added static_transform_publisher from robot frame to map, then the robot appeared fully.

The following lines inside the launch file -

    static_transform_publishers = [
    Node(
        package='tf2_ros',
        executable='static_transform_publisher',
        name='static_tf_pub',
        arguments=['0', '0', '0', '0', '0', '0', 'map', 'ego_racecar/base_link']
    ),
        Node(
            package='tf2_ros',
            executable='static_transform_publisher',
            name='static_tf_pub_base_to_front_left_wheel',
            arguments=['-0.5', '0.5', '0', '0', '0', '0', 'map', 'ego_racecar/front_left_wheel']
        ),
        Node(
            package='tf2_ros',
            executable='static_transform_publisher',
            name='static_tf_pub_base_to_front_right_wheel',
            arguments=['-0.5', '-0.5', '0', '0', '0', '0', 'map', 'ego_racecar/front_right_wheel']
        ),
    ]

[seominseok00]

Thankyou for helping @AkshayLaddha943, you mean just add that lines in launch file above # finalize ?
I follow your lines and add "ld.add_action(static_transform_publishers)", but it appears attributeerror. or is there any other things you did?

[derekhanbaliq]

The issue is because ros2 foxy is eol and rviz update brings the incompatibility to the software applications, leading the map - ego transformation messed up. The solution is, just use >= ros 2 humble.

Not sure if adding static transformation can still fix the issue if the ego vehicle moves.

Besides, without software update, no one can guaruntee there won't be more and more bugs coming out.