Old static TF's are being published even if the scene is stopped or the name has changed

[o3de]

Old static TF's are being published even if the scene is stopped or the name has changed

[michalpelka]

I've successfully recreated the problem in rviz2, but not in tf2_tools view_frames

[hultonha]

Note: This particular issue might be worth retesting on latest code as it may already be resolved. Thanks!

[adamdbrw]

Did anybody run into this issue recently?

[arturkamieniecki]

I have recreated this issue in ROSConDemo (with o3de/ROSConDemo#240 cherry-picked into development) with o3de-extras (last commit e9f49e6).
Steps to recreate:

1. launch ROSConDemo and create an apple_kraken_v1 prefab
2. in the kraken prefab under base_link set FrameComponents namespace to something (namespace#1)
3. launch a terminal with ros2 topic echo tf_static
4. start the simulation
5. wait for ros2 topic echo tf_static to print something
6. stop the simulation
7. change the namespace to something else (namespace#2)
8. start the simulation
9. wait for ros2 topic echo tf_static
10. stop the simulation
11. the previous namespace tf_static messages should be visible

[arturkamieniecki]

After some research about removing tf_static messages, I've come to the conclusion that TF2 does not support this kind of directly. In paragraph 4.8 at http://wiki.ros.org/tf2 there is a similar example to this issue.

The StaticTransformBroadcaster is not reset after changes in the ROS 2 Frames configuration. Unfortunately just resetting the broadcaster does not fix the issue. Only resetting the whole node resolves this problem. I've created a proof of concept PR that fixes this issue, but it has its own problem. The PR is #354.

[arturkamieniecki]

Closed with #354.