tf_static not being published is part of the anit cheat?

Competitions AI for Industry Challenge
1

i guess the static plug poses would be on that topic, so i understand

however i found that base_link and gripper/tcp are also not being published and thus can not be used for a tf lookup? which i find unreasonable as base_link and gripper/tcp would be very well known in a robotic set up

2

The cable links, plugs, and task board components like ports should be available on the /tf topic when ground_truth:=true. The task board components are published at a much lower rate, 1Hz.

As for the base_link → gripper/tcp transform, I do see these frames, see attached pdf of the TF tree

frames_2026-03-10_16.38.54.pdf (26.5 KB)

3

set spin_thread in tf.listener to true and though shalt receive trransforms. rookie mistake

4

so just to reconfirm, /tf topics (dynamic transform) will not be available because it is ground-truth. but /tf_static transform with respect to base will be available?