Hello together,
I am facing following problem:
The robot in RVIZ does not move accordingly to the behavior in Unity,
I am using ROSSharp with Unity and ROS is running on a Ubuntu VM.
ROS Distribution Kinetic is used.
Unity publishes with the JointStatePublisher and the PoseStampedPublisher.
My Odometry Frame File looks promising, as all Frames are properly connected (https://docdro.id/cIGCq2o).
**Question:**
When not setting a static transform between the base_footprint and the base_link in my launch file, there is no movement at all in RVIZ, although this transform should be handled by the Robot_State_Publisher.
When I add a static transform between the base_footprint and the base_link the robot receives movement.
BUT: He is more or less jumping around in the map.
My launch file looks like the following
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