[ROS1] No TF published from Ignition with DiffDrive plugin

[doisyg]

As opposite to gazebo classic, no tf from frame_id to child_frame_idis published with ignition when using the DiffDrive plugin.
What would be the best implementation strategy ?
Adding in ros_ign_bridge a tf publisher when converting Odom messages ?
Or adding in Ignition DiffDrive plugin the publication of the newly added 7b06c21 ignition.msgs.Pose_V that ros_ign_bridge will then convert to TF ? Btw, these new commits were only pushed to the melodic branch, would it be possible to port them to noetic (as I am working with noetic) ? @chapulina
Edit: I confused ROS2 branch and melodic

[doisyg]

In fact, very easy to solve since there is a ign to ros Pose_V to tf2 conversion working in noetic, see gazebosim/gz-sim#548

[AndreasAZiegler]

I get a

 Failed to create a bridge for topic [/rcv_transform] with ROS2 type [tf2_msgs/msg/TFMessage] and Ignition Transport type [ignition.msgs.Pose_V]

when I try to start the bridge with

ros2 run ros_ign_bridge parameter_bridge /rcv_transform@tf2_msgs/msg/[email protected]_V

with

ign topic -i -t /rcv_transform
Publishers [Address, Message Type]:
  tcp://172.17.0.1:38643, ignition.msgs.Pose_V

I mentioned it here as here it was mentioned that /tf@tf2_msgs/[email protected]_V should work ans this PR is linked in the previous comment.

[doisyg]

Works for me with everything running on the same host.
Is the bridge working with other topics ? Which ros_ign version/branch are you running ?
I am closing this ticket a it should have after the PR was merged. Please open another one