tf Ros_humble gz no frame_id, child_frame_id or header being populated.

[chngdickson]

Environment

• OS Version: Ubuntu 22.04
• ROS version : Ros2 humble
• gazebosim/ros_gz: Tried with ros2(rolling rosdep?) and humble branch

Description

• Expected behavior: /tf data to have frame_id and child frame just like gazebo
• 
• Actual behavior: tf in ros2 humble to have missing headers and child_frame_id
• 

Steps to reproduce

1. Write launch description as below
2. try not to cry

def generate_launch_description():
  tf_bridge = Node(
    package='ros_gz_bridge',
    executable='parameter_bridge',
    # topic@ros_type@gazebo_type
    arguments=[
        f'/world/my_world/model/my_model/joint_state@sensor_msgs/msg/JointState@gz.msgs.Model',
        f'/world/my_world/pose/info@tf2_msgs/msg/TFMessage@gz.msgs.Pose_V'],
    remappings=[
        (f'/world/my_world/model/my_model/joint_state', '/joint_states'),
        (f'/world/my_world/pose/info', '/tf')
        ],
    output='screen'
    )
  
  return LaunchDescription([
    tf_bridge
  ])

[thibs-sigma]

Hi all,
Any news on that issue? I have the same problem.
Could you provide some hints to try to debug that and potentially fix the issue "by hand" for the moment?

[chngdickson]

Hi all, Any news on that issue? I have the same problem. Could you provide some hints to try to debug that and potentially fix the issue "by hand" for the moment?

Dont think they have solved it yet. As you can see, the issue is sent to a TODO in core development. We just kinda have to wait patiently.

The workaround would be have all the poses in a single file. Which kinda defeats the purpose of an include. Any include will cause the tf to not get published correctly.

[azeey]

It's best to use the PosePublisher system for working with tf (eg. https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_sim_demos/launch/tf_bridge.launch.py). The pose/info topic is published by the SceneBroadcaster system, which is meant to be used by the GUI.