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Bumped by Community user
Bumped by Community user
Bumped by Community user
Bumped by Community user
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And as requested this is my TF launch file:

    <launch>
        <arg name="namespace" default="" />
        <arg name="robot_tf_prefix" default="$(arg namespace)/"/>
        <arg name="type" default="$(arg type)/" /> <!-- real, simulation or rosbag-->
    
        <group if="$(eval arg('namespace') == 'sbuggy')"> 
    
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_link_broadcaster" args="0.375 0 2.29 0 0 0 $(arg namespace)/base_footprint $(arg namespace)/base_link" />  
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_linkcenter_broadcaster" args="0 0 0 0 0 0 $(arg namespace)/base_footprint $(arg namespace)/center_link" /> 
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_link1_broadcaster" args="0 0 0 0 0 0 $(arg namespace)/base_link $(arg namespace)/os1/os_sensor" /> 
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_link2_broadcaster" args="1.10 -0.48 -0.71 0.01151917 0.02600541 0.02600541 $(arg namespace)/base_link $(arg namespace)/os2/os_sensor" /> 
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_link3_broadcaster" args="1.10 0.56 -0.71 0.02722714 0.02234021 0.04258603 $(arg namespace)/base_link $(arg namespace)/os3/os_sensor" />
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_link4_broadcaster" args="0 0 0 0 0 0 $(arg namespace)/base_link $(arg namespace)/gnss1_antenna_wgs84" />
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_link5_broadcaster" args="0 0 0 0 3.14 0 $(arg namespace)/base_link $(arg namespace)/sensor_wgs84" />
      </group>
</launch>

And as requested this is my TF launch file:

    <launch>
        <arg name="namespace" default="" />
        <arg name="robot_tf_prefix" default="$(arg namespace)/"/>
        <arg name="type" default="$(arg type)/" /> <!-- real, simulation or rosbag-->
    
        <group if="$(eval arg('namespace') == 'sbuggy')"> 
    
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_link_broadcaster" args="0.375 0 2.29 0 0 0 $(arg namespace)/base_footprint $(arg namespace)/base_link" />  
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_linkcenter_broadcaster" args="0 0 0 0 0 0 $(arg namespace)/base_footprint $(arg namespace)/center_link" /> 
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_link1_broadcaster" args="0 0 0 0 0 0 $(arg namespace)/base_link $(arg namespace)/os1/os_sensor" /> 
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_link2_broadcaster" args="1.10 -0.48 -0.71 0.01151917 0.02600541 0.02600541 $(arg namespace)/base_link $(arg namespace)/os2/os_sensor" /> 
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_link3_broadcaster" args="1.10 0.56 -0.71 0.02722714 0.02234021 0.04258603 $(arg namespace)/base_link $(arg namespace)/os3/os_sensor" />
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_link4_broadcaster" args="0 0 0 0 0 0 $(arg namespace)/base_link $(arg namespace)/gnss1_antenna_wgs84" />
            <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg namespace)_link5_broadcaster" args="0 0 0 0 3.14 0 $(arg namespace)/base_link $(arg namespace)/sensor_wgs84" />
      </group>
</launch>
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header: seq: 4502 stamp: secs: 1691504843 nsecs: 100990753 frame_id: "fjcruiser/gnss1_antenna_wgs84" status: status: 0 service: 1 latitude: 24.4363592 longitude: 54.6110056 altitude: -19.088 position_covariance: [0.4342809729757313, 0.0, 0.0, 0.0, 0.4342809729757313, 0.0, 0.0, 0.0, 0.7259039967498779] position_covariance_type: 2

header: 
  seq: 4502
  stamp: 
    secs: 1691504843
    nsecs: 100990753
  frame_id: "fjcruiser/gnss1_antenna_wgs84"
status: 
  status: 0
  service: 1
latitude: 24.4363592
longitude: 54.6110056
altitude: -19.088
position_covariance: [0.4342809729757313, 0.0, 0.0, 0.0, 0.4342809729757313, 0.0, 0.0, 0.0, 0.7259039967498779]
position_covariance_type: 2

header: seq: 136324 stamp: secs: 1691505083 nsecs: 75626252 frame_id: "fjcruiser/sensor_wgs84" orientation: x: -0.42456197949594277 y: 0.9053296474668617 z: -0.004811025879026105 w: -0.010112218289144895 orientation_covariance: [1.2389542403262732e-06, 0.0, 0.0, 0.0, 1.2375152844005589e-06, 0.0, 0.0, 0.0, 1.5143168398652242e-05] angular_velocity: x: -0.00975768268108368 y: 0.01087676640599966 z: 0.0530206598341465 angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] linear_acceleration: x: 0.7374916076660156 y: 0.49138200283050537 z: -10.263421058654785 linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]

header: 
  seq: 136324
  stamp: 
    secs: 1691505083
    nsecs:  75626252
  frame_id: "fjcruiser/sensor_wgs84"
orientation: 
  x: -0.42456197949594277
  y: 0.9053296474668617
  z: -0.004811025879026105
  w: -0.010112218289144895
orientation_covariance: [1.2389542403262732e-06, 0.0, 0.0, 0.0, 1.2375152844005589e-06, 0.0, 0.0, 0.0, 1.5143168398652242e-05]
angular_velocity: 
  x: -0.00975768268108368
  y: 0.01087676640599966
  z: 0.0530206598341465
angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
linear_acceleration: 
  x: 0.7374916076660156
  y: 0.49138200283050537
  z: -10.263421058654785
linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]

header: seq: 62 stamp: secs: 1691504859 nsecs: 601004771 frame_id: "fjcruiser/base_footprint" child_frame_id: "fjcruiser/base_footprint" pose: pose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] twist: twist: linear: x: 0.00014493087447644442 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 covariance: [0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

header: 
  seq: 62
  stamp: 
    secs: 1691504859
    nsecs: 601004771
  frame_id: "fjcruiser/base_footprint"
child_frame_id: "fjcruiser/base_footprint"
pose: 
  pose: 
    position: 
      x: 0.0
      y: 0.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.00014493087447644442
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

header: seq: 4502 stamp: secs: 1691504843 nsecs: 100990753 frame_id: "fjcruiser/gnss1_antenna_wgs84" status: status: 0 service: 1 latitude: 24.4363592 longitude: 54.6110056 altitude: -19.088 position_covariance: [0.4342809729757313, 0.0, 0.0, 0.0, 0.4342809729757313, 0.0, 0.0, 0.0, 0.7259039967498779] position_covariance_type: 2

header: seq: 136324 stamp: secs: 1691505083 nsecs: 75626252 frame_id: "fjcruiser/sensor_wgs84" orientation: x: -0.42456197949594277 y: 0.9053296474668617 z: -0.004811025879026105 w: -0.010112218289144895 orientation_covariance: [1.2389542403262732e-06, 0.0, 0.0, 0.0, 1.2375152844005589e-06, 0.0, 0.0, 0.0, 1.5143168398652242e-05] angular_velocity: x: -0.00975768268108368 y: 0.01087676640599966 z: 0.0530206598341465 angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] linear_acceleration: x: 0.7374916076660156 y: 0.49138200283050537 z: -10.263421058654785 linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]

header: seq: 62 stamp: secs: 1691504859 nsecs: 601004771 frame_id: "fjcruiser/base_footprint" child_frame_id: "fjcruiser/base_footprint" pose: pose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] twist: twist: linear: x: 0.00014493087447644442 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 covariance: [0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

header: 
  seq: 4502
  stamp: 
    secs: 1691504843
    nsecs: 100990753
  frame_id: "fjcruiser/gnss1_antenna_wgs84"
status: 
  status: 0
  service: 1
latitude: 24.4363592
longitude: 54.6110056
altitude: -19.088
position_covariance: [0.4342809729757313, 0.0, 0.0, 0.0, 0.4342809729757313, 0.0, 0.0, 0.0, 0.7259039967498779]
position_covariance_type: 2
header: 
  seq: 136324
  stamp: 
    secs: 1691505083
    nsecs:  75626252
  frame_id: "fjcruiser/sensor_wgs84"
orientation: 
  x: -0.42456197949594277
  y: 0.9053296474668617
  z: -0.004811025879026105
  w: -0.010112218289144895
orientation_covariance: [1.2389542403262732e-06, 0.0, 0.0, 0.0, 1.2375152844005589e-06, 0.0, 0.0, 0.0, 1.5143168398652242e-05]
angular_velocity: 
  x: -0.00975768268108368
  y: 0.01087676640599966
  z: 0.0530206598341465
angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
linear_acceleration: 
  x: 0.7374916076660156
  y: 0.49138200283050537
  z: -10.263421058654785
linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
header: 
  seq: 62
  stamp: 
    secs: 1691504859
    nsecs: 601004771
  frame_id: "fjcruiser/base_footprint"
child_frame_id: "fjcruiser/base_footprint"
pose: 
  pose: 
    position: 
      x: 0.0
      y: 0.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.00014493087447644442
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
added 2078 characters in body
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As requested you will find below a sample message from each sensor input:

Fix

header: seq: 4502 stamp: secs: 1691504843 nsecs: 100990753 frame_id: "fjcruiser/gnss1_antenna_wgs84" status: status: 0 service: 1 latitude: 24.4363592 longitude: 54.6110056 altitude: -19.088 position_covariance: [0.4342809729757313, 0.0, 0.0, 0.0, 0.4342809729757313, 0.0, 0.0, 0.0, 0.7259039967498779] position_covariance_type: 2

imu

header: seq: 136324 stamp: secs: 1691505083 nsecs: 75626252 frame_id: "fjcruiser/sensor_wgs84" orientation: x: -0.42456197949594277 y: 0.9053296474668617 z: -0.004811025879026105 w: -0.010112218289144895 orientation_covariance: [1.2389542403262732e-06, 0.0, 0.0, 0.0, 1.2375152844005589e-06, 0.0, 0.0, 0.0, 1.5143168398652242e-05] angular_velocity: x: -0.00975768268108368 y: 0.01087676640599966 z: 0.0530206598341465 angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] linear_acceleration: x: 0.7374916076660156 y: 0.49138200283050537 z: -10.263421058654785 linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]

Wheel_encoder:

header: seq: 62 stamp: secs: 1691504859 nsecs: 601004771 frame_id: "fjcruiser/base_footprint" child_frame_id: "fjcruiser/base_footprint" pose: pose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] twist: twist: linear: x: 0.00014493087447644442 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 covariance: [0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

As requested you will find below a sample message from each sensor input:

Fix

header: seq: 4502 stamp: secs: 1691504843 nsecs: 100990753 frame_id: "fjcruiser/gnss1_antenna_wgs84" status: status: 0 service: 1 latitude: 24.4363592 longitude: 54.6110056 altitude: -19.088 position_covariance: [0.4342809729757313, 0.0, 0.0, 0.0, 0.4342809729757313, 0.0, 0.0, 0.0, 0.7259039967498779] position_covariance_type: 2

imu

header: seq: 136324 stamp: secs: 1691505083 nsecs: 75626252 frame_id: "fjcruiser/sensor_wgs84" orientation: x: -0.42456197949594277 y: 0.9053296474668617 z: -0.004811025879026105 w: -0.010112218289144895 orientation_covariance: [1.2389542403262732e-06, 0.0, 0.0, 0.0, 1.2375152844005589e-06, 0.0, 0.0, 0.0, 1.5143168398652242e-05] angular_velocity: x: -0.00975768268108368 y: 0.01087676640599966 z: 0.0530206598341465 angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01] linear_acceleration: x: 0.7374916076660156 y: 0.49138200283050537 z: -10.263421058654785 linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]

Wheel_encoder:

header: seq: 62 stamp: secs: 1691504859 nsecs: 601004771 frame_id: "fjcruiser/base_footprint" child_frame_id: "fjcruiser/base_footprint" pose: pose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] twist: twist: linear: x: 0.00014493087447644442 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 covariance: [0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

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