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</head><body style=""><div>Hello,</div>
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<div>I have a task that is supposed to provide the robots position in a global map via a transform "map" -> "robot".</div>
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<div>Within the orogen-file, the transform is specified as:</div>
<div>    output_port "map2robot", "base/samples/RigidBodyState"</div>
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<div>The transform is created with the given frame names in the task:</div>
<div>  base::samples::RigidBodyState rbs;<br>  rbs.setTransform(mMapper->getCurrentPose());<br>  rbs.invalidateCovariances();<br>  rbs.sourceFrame = "map";<br>  rbs.targetFrame = "robot";<br>  _map2robot.write(rbs);</div>
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<div>In transforms.rb, this transform is definied to provide the "map" and robot "frame"</div>
<div>  dynamic_transform "mapper.map2robot", "map" => "robot"<br> </div>
<div>But when I try to visualize sensor data in the "robot" frame, only the default "world_osg" frame is available. A transform_broadcaster is not started, even after adding a dummy static_transform in transforms.rb.</div>
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<div>What else is missing to make the transform available in the visualization?</div>
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<div>Best regards,</div>
<div>Sebastian</div></body></html>