I ran into this problem with a related issue in the latest changes to MoveIt. Although that is a separate issue, it seems like the URDF should be updated on Baxter to support its screen nodding just like it can in real life. I understand the screen nod doesn't have real encoders / full rotation, but we should still be able to see these changes in rviz and gazebo.
Note: I have made the joint non-fixed in my fork of the urdf and I notice the center of rotation is currently not in the correct location.
I ran into this problem with a related issue in the latest changes to MoveIt. Although that is a separate issue, it seems like the URDF should be updated on Baxter to support its screen nodding just like it can in real life. I understand the screen nod doesn't have real encoders / full rotation, but we should still be able to see these changes in rviz and gazebo.
Note: I have made the joint non-fixed in my fork of the urdf and I notice the center of rotation is currently not in the correct location.