Port to tf2 and enable using static broadcaster

meyerj · Mar 14, 2016 · 19294fb · 19294fb
1 parent b38ebed
commit 19294fb
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Showing 3 changed files with 2 additions and 3 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,7 +3,7 @@ project(robot_state_publisher)
 
 find_package(orocos_kdl REQUIRED)
 find_package(catkin REQUIRED
-  COMPONENTS roscpp rosconsole rostime tf tf2_ros tf2_kdl kdl_parser cmake_modules rostest
+  COMPONENTS roscpp rosconsole rostime tf tf2_ros tf2_kdl kdl_parser cmake_modules
 )
 find_package(Eigen REQUIRED)
 

diff --git a/package.xml b/package.xml
@@ -47,5 +47,4 @@
   <run_depend>tf2_kdl</run_depend>
 
   <build_depend>rostest</build_depend>
-
 </package>
diff --git a/src/joint_state_listener.cpp b/src/joint_state_listener.cpp
@@ -57,7 +57,7 @@ JointStateListener::JointStateListener(const KDL::Tree& tree, const MimicMap& m,
   double publish_freq;
   n_tilde.param("publish_frequency", publish_freq, 50.0);
   // set whether to use the /tf_static latched static transform broadcaster
-  n_tilde.param("use_tf_static", use_tf_static_, true);
+  n_tilde.param("use_tf_static", use_tf_static_, false);
   // get the tf_prefix parameter from the closest namespace
   std::string tf_prefix_key;
   n_tilde.searchParam("tf_prefix", tf_prefix_key);