URDFSpawner does not preserve link names, messing the TF tree when using the ros2_webots_driver with robot_state_publisher #209
Description
Describe the Bug
All links are converted into Solids which have names "Solid[N]" instead of their original name in the URDF file.
Steps to Reproduce
Consider the following urdf :
<?xml version="1.0"?>
<robot name="myrobot"
xmlns:xacro="http://ros.org/wiki/xacro">
<!-- BASE LINK -->
<link name="base_link">
<visual>
<origin xyz="0 0 0.075" />
<geometry>
<box size="0.3 0.3 0.15" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.075" />
<geometry>
<box size="0.3 0.3 0.15" />
</geometry>
</collision>
</link>
<joint name="laser_link_joint" type="fixed">
<parent link="base_link" />
<child link="laser_link" />
<origin xyz="0 0 1" />
</joint>
<!-- LINK2 -->
<link name="laser_link">
<visual>
<origin xyz="0 0 0.075" />
<geometry>
<box size="0.3 0.3 0.15" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.075" />
<geometry>
<box size="0.3 0.3 0.15" />
</geometry>
</collision>
</link>
</robot>The link laser_link is turned into Solid0 (cf screenshot).
The workaround is to set the parameter "set_robot_state_publisher": False for the webots_ros2_driver ROS node, and populate /robot_description by hand. This is regrettable !
Expected behavior
Original names should be preserved.
Affected Packages
List of affected packages:
- webots_ros2_driver
Screenshots
System
- Webots Version: R2023a for macOS
- ROS Version: Humble
- Operating System: Ubuntu jammy in docker, host macOS Monterey 12.2.1, using local_simulation_server.py