Incorrect FK for the locobot

[jborbik]

Steps to reproduce

1. run roslaunch locobot_control main.launch use_arm:=true use_camera:=true use_base:=true use_rviz:=true

Observed Results

The visualized arm and camera positions are not consistent with the actual, real world locobot positions. Below you can see the image of the actual arm position and the one seen in RViz: the visualized model and the TF coming from forward kinematics (FK). If I kill the roslaunch script, the arm does unexpected movement which causes the arm to hit the locobot's component and the motor overloads. Obviously, the moveit does not work as expected because the current position is incorrectly mapped.

Expected Results

Correct FK in Rviz after launching the script.

Relevant information

I have verified using Dynamixel Wizard the the motor IDs are correct (1-7 for the arm in order, 8 - camera yaw angle, 9 - camera pitch angle).

[jborbik]

Is there anything I can do for the debugging of this issue?