Fix Issue #27: TF Transform Error for Sonar Sensor by Adding Fixed Joint for base_sonar_01_link

[onemriganka]

PR Title:
Fix TF Transform Error for Sonar Sensor by Adding Fixed Joint for base_sonar_01_link

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PR Description:

Description

This pull request addresses Issue #27 by resolving the TF transform error where the sonar sensor frame (base_sonar_01_link) is not connected to the robot's TF tree. The error message was:

Error: /move_base Range sensor layer can't transform from map to base_sonar_01_link

The fix involves adding a fixed joint that attaches base_sonar_01_link to the base_link in the robot model.

Changes Made

• File Modified: tiago_description/robots/tiago.urdf.xacro
• Modification: Inserted a fixed joint named sonar_mount_joint immediately after the base sensors are defined and before the torso is declared. The joint definition is as follows:

  <!-- Fixed joint to mount the sonar sensor (base_sonar_01_link) -->
  <joint name="sonar_mount_joint" type="fixed">
    <origin xyz="0.2 0.0 0.15" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="base_sonar_01_link"/>
  </joint>

  This joint establishes the necessary connection in the TF tree.

Testing

• Rebuilt the workspace using colcon build --packages-select tiago_description.
• Sourced the setup file and launched the robot state publisher:

  ros2 launch tiago_description robot_state_publisher.launch.py

• Verified with ros2 run tf2_tools view_frames.py that the transform from base_link to base_sonar_01_link is correctly published.

Impact

This change ensures that the sonar sensor's frame is properly integrated into the TF tree, resolving the TF lookup errors encountered during simulation and enabling correct sensor data processing by the navigation stack.

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Please review and merge if everything looks correct.

[ShaniPratapSingh]

@onemriganka i want to update the task and then merge