No robot motion after relaxing camera pose constraints

[aadityasaraiya]

No robot motion after relaxing camera pose constraints

[aadityasaraiya]

Update- The broken TF tree issue has been solved.

The reason for the issue was that the static TF transforms were being published both by my MoveIt! package and the launch_xtion_robot.launch file because of the following line

    <node name="world_to_base_publisher" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 world_frame base_link 100" output="screen"/>

After commenting that line out, the TF tree remains the same as before.

@schornakj @AustinDeric Just a small doubt.

Q: Should the TF static transform from the world to base of the robot be ideally published by the moveit_planning_execution.launch file or the launch_xtion_robot.launch file?

Comments: Because if launch_xtion_robot.launch file is publishing transforms by default, it could lead to the TF tree being broken (similar to this issue).

Note- This also removes the additional shifted Octomap which was being generated in the middle. However the one on the right side still remains.