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I created and ran a urdf file by combining several examples.

When simply launched to view in rviz, tf_tree was produced normally.

However, since I added a controller and output it to joint_state_broadcaster,

It was confirmed that tf_tree was split.

Below is the tf_tree structure.

What more is needed to determine the cause of this data?

add1) Additionally, it wasn't completely non-functional. As a result of modifying the joint to fixed, it was confirmed that it was connected normally. So, I believe this is not a urdf problem. What's the problem?

add2) /static_tf msgs are found and I cannot see anything in /tf

add 3)) I confirmed that messages that should be delivered in /tf are output in /dynamics_joint_states. what to i do ?

I created and ran a urdf file by combining several examples.

When simply launched to view in rviz, tf_tree was produced normally.

However, since I added a controller and output it to joint_state_broadcaster,

It was confirmed that tf_tree was split.

Below is the tf_tree structure.

What more is needed to determine the cause of this data?

add1) Additionally, it wasn't completely non-functional. As a result of modifying the joint to fixed, it was confirmed that it was connected normally. So, I believe this is not a urdf problem. What's the problem?

add2) /static_tf msgs are found and I cannot see anything in /tf

add 3)) From ros2 topic echo /joint_states I got this msgs

I created and ran a urdf file by combining several examples.

When simply launched to view in rviz, tf_tree was produced normally.

However, since I added a controller and output it to joint_state_broadcaster,

It was confirmed that tf_tree was split.

Below is the tf_tree structure.

What more is needed to determine the cause of this data?

add1) Additionally, it wasn't completely non-functional. As a result of modifying the joint to fixed, it was confirmed that it was connected normally. So, I believe this is not a urdf problem. What's the problem?

add2) /static_tf msgs are found and I cannot see anything in /tf

I created and ran a urdf file by combining several examples.

When simply launched to view in rviz, tf_tree was produced normally.

However, since I added a controller and output it to joint_state_broadcaster,

It was confirmed that tf_tree was split.

Below is the tf_tree structure.

What more is needed to determine the cause of this data?

add1) Additionally, it wasn't completely non-functional. As a result of modifying the joint to fixed, it was confirmed that it was connected normally. So, I believe this is not a urdf problem. What's the problem?

add2) /static_tf msgs are found and I cannot see anything in /tf

add 3)) I confirmed that messages that should be delivered in /tf are output in /dynamics_joint_states. what to i do ?

I created and ran a urdf file by combining several examples.

When simply launched to view in rviz, tf_tree was produced normally.

However, since I added a controller and output it to joint_state_broadcaster,

It was confirmed that tf_tree was split.

Additionally, I received a log that the parameter of joint_state_broadcaster was empty.

Below is the tf_tree structure.

What more is needed to determine the cause of this data?

add1) Additionally, it wasn't completely non-functional. As a result of modifying the joint to fixed, it was confirmed that it was connected normally. So, I believe this is not a urdf problem. What's the problem?

add2) /static tf msgs are found and I cannot find /tf msgs

I created and ran a urdf file by combining several examples.

When simply launched to view in rviz, tf_tree was produced normally.

However, since I added a controller and output it to joint_state_broadcaster,

It was confirmed that tf_tree was split.

Below is the tf_tree structure.

What more is needed to determine the cause of this data?

add1) Additionally, it wasn't completely non-functional. As a result of modifying the joint to fixed, it was confirmed that it was connected normally. So, I believe this is not a urdf problem. What's the problem?

add2) /static_tf msgs are found and I cannot see anything in /tf