[ROS2] Should gazebo_ros_p3d plugin broadcast tf2 frame "base_link"?

[mvoellmy]

I tried to make the gazebo_ros_p3d plugin broadcast the tf frame in addition with the odom-topic, but noticed that this was not implemented. gazebo_ros_p3d.cpp includes

#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_listener.h>

but I could not find, where/if they are used, so I assume that this functionality is planned to be implemented.

I can implement the functionality and create a pull request, but wanted to first check in if this is the right way to get the tf broadcast or if there is a different method intended for this functionality.

Environment:

• OS: Ubuntu 18.04
• Gazebo version: Gazebo 9
• ROS version: Eloquent
• gazebo_ros_pkgs: debian install
• glx server in use: server glx vendor string: SGI

[han88]

Hi is there a way to fix the same issue in [ROS1] noetic?