diff_controller does not appear to publish odom->base_link transform about arbotix_ros HOT 8 CLOSED

port: /dev/ttyUSB0
baud: 115200
rate: 20
sync_write: True
sync_read: True
read_rate: 20
write_rate: 20

controllers: {
   #  Pololu motors: 1856 cpr = 0.3888105m travel = 4773 ticks per meter (empirical: 4100)
   base_controller: {type: diff_controller, base_frame_id: base_footprint, base_width: 0.26, ticks_meter: 4100, Kp:     12, Kd: 12, Ki: 0, Ko: 50, accel_limit: 1.0 }
}

<launch>
  <param name="/use_sim_time" value="false" />

  <!-- Load the URDF/Xacro model of our robot -->
  <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find rbx1_description)/urdf/turtlebot.urdf.xacro'" />

  <param name="robot_description" command="$(arg urdf_file)" />

  <node name="arbotix" pkg="arbotix_python" type="driver.py" output="screen">
      <rosparam file="$(find rbx1_bringup)/config/fake_turtlebot_arbotix.yaml" command="load" />
      <param name="sim" value="true"/>
  </node>

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
      <param name="publish_frequency" type="double" value="20.0" />
  </node>

  <!-- We need a static transforms for the wheels -->
  <node pkg="tf" type="static_transform_publisher" name="odom_left_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /left_wheel_link 100" />
  <node pkg="tf" type="static_transform_publisher" name="odom_right_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /right_wheel_link 100" />

</launch>

$ roscd arbotix_python/nodes
$ pwd
/opt/ros/groovy/stacks/arbotix/arbotix_python/nodes
$ ls -l 
total 52
-rwxr-xr-x 1 root root  7961 Sep 23  2011 controllerGUI.py
-rw-r--r-- 1 root root 10087 Feb 11 20:21 controllerGUI.pyc
-rwxr-xr-x 1 root root  6684 Sep 23  2011 driver.py
-rw-r--r-- 1 root root  6528 Feb 11 20:21 driver.pyc
-rwxr-xr-x 1 root root  6941 Sep 23  2011 terminal.py
-rw-r--r-- 1 root root  6417 Feb 11 20:21 terminal.pyc