URDF not loaded and published in 2.19.1

[SebastianHuch]

Hello, I recently updated from Foxglove Studio 2.18.1 to 2.19.1 and noticed some changes in the URDF loading behavior when using the same settings as in 2.18.1.
The URDF is loaded from a file path (desktop version), and instead of showing the joints as in 2.18.1, the links are shown in 2.19.1. There is also an error message "Not all transforms of this URDF are provided by the data source" next to the URDF layer. The transform is not loaded correctly and hence not published to be used internally in foxglove studio, and I can not visualize any topic in another display frame other than its own frame.

[achim-k]

It looks like your datasource does not provide transforms (typically published on /tf and /tf_static when using ROS) related to your URDF, is that correct?

[SebastianHuch]

That's correct, but that was also the case in 2.18.1 - I'm using the same data source and the same URDF - and still the transforms were interpreted correct, without any /tf_static being published by foxglove, the data source, or an external state publisher.

[achim-k]

Ok, I see. Since 2.19, the URDF transforms are no longer added to the internal transform tree as that could lead to issues. e.g. a cyclic transform tree when adding multiple different URDFs. The datasource should provide these transforms instead. One should not have to add a URDF to the 3D panel before one can visualize topics.

[SebastianHuch]

Alright, thanks for clarification! Then I go ahead and publish the URDF manually, but still I loved the old feature that automatically used the URDF for the internal transform tree to save this extra publishing step.

[achim-k]

It should still be able to visualize the URDF without publishing the transforms (unlike in Rviz). However, you won't be able to visualize other topics anymore without publishing the required transforms.

[SebastianHuch]

You're definitely right, the URDF and it's links are always visible, also with 2.19.1. However, I was interested in the transforms which are not used internally anymore, so that's why I'm switching to the external state publisher. Thanks!