Delay in wheel tfs

[pmukherj]

Wheel tfs take a while for the joint_publisher (running on the base station) and robot_state_publisher (running on the robot) to communicate and publish properly. There is about a five second delay in the wheel tfs showing up in rviz.

[jeff-o]

The real solution is that joint_state_publisher needs to be removed from view_robot. On more complex robots (like those with arms) the joint_state_publisher conflicts with real joints.