I'm working with an Ackermann car-like robot. I have an issue with the tf in RVIZ because to make an Ackermann steering you have to make a virtual link due to ROS2 doesn't allow yet 2 dof in a joint. So I have two virtual cylinder for z axis move, inside the front wheels, and the front wheel link for the spin, y axis.
My robot works in Gazebo and move good but when I see the tf in RVIZ the front wheels links don't move but the the virtual cylinders do. I have seen the tf tree and is well done but I don't know why the front wheel tf don't work properly.
In the official supported page for Ackermann controller, section 1.3 says:
If you want rviz to show states of robot's actual joint interfaces' tf through joint_state_controller and robot_state_publisher, you need to convert the two interfaces of ackermann_steering_controller to your robot's specific ones via RobotHW or RobotHWSim (generally used for GAZEBO). This is because the controller only update it's basic interfaces mentioned in the previous section.
Does anyone know what is the RobotHW or RobotHWSim and how to use it in ROS2. I just want it for simulation purpose.
My view_frame here: