- Double click to open "Publish" block mask
- Change "Durability" to "Transient local"
Using ROS Toolbox to publish transforms between 2 frames on topic /tf_static but RVIZ doesn't recognize them.
4 views (last 30 days)
Show older comments
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.

0 Comments
Answers (1)
Josh Chen
on 3 Jan 2025
Hi Abdulrahman,
Given that you are able to see the correct message in virtual machine, I believe the message modeling is correct.
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:
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
0 Comments
See Also
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!