tf::TransformBroadcaster didn't broadcast the transform of the marker to /tf

[ancorasir]

I'm using ros kinetic and realsense. The package successfully locate the marker as I checked /aruco_single/result and /aruco_single/transform. But the strange thing is /tf topic is empty although "br.sendTransform(stampedTransform)" in the code. Has any one met this problem before? Thanks a lot.

[g1y5x3]

I had a similar issue. Have you find out why this would happen?

[TaekedeHaan]

I experience the same. It is fixed when I echo the marker or an other topic on the terminal (in my case rostopic echo /aruco_tracker/pose). The issue seems to be that the transform is only published when a subscriber is detected, as can be seen here. Thus I think the only solution is to subscribe to one of these topics.

[QuantuMope]

Is there anyway to have this work without manually subscribing to the pose?

[saikishor]

@QuantuMope as @TaekedeHaan pointed out. The transform is only published when there is a subscription to one of the topics. It was designed such a way, as the ARuCo marker detection is computationally intensive(#92).

You could write a ROS node that subscribes to one of the topics, at the instance you need the transform published.

[dHonerkamp]

It would be great to mention this in the readme, as it seems that every new person (including myself) first spends a few hours figuring this out

[wangqingyu985]

i also encountered the same issue