Hello Wim,
The two nodes not being connected was what I noticed too. I am using
the robot_state_publisher as showed similarly in
http://www.ros.org/wiki/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher
which I managed to get working.
If the state_publisher is supposed to automatically connect to the
joint_states topic, what could prevent it to do so?
I've discovered it is somehow related to the urdf model, since running only with
with the robot_state_publisher tutorial model spawns the
robot_state_publisher waiting to subscribe to joint_states (checked on
rxgraph), while if I use the model I have, the robot_state_publisher
is spawned with subscriptions: none.
Since there's no error message, the model was successfully parsed and
is therefore not related at all with my code on wam_node, what could
induce that behaviour? The two models are quite different, on mine all
joints are of type fixed and rely on stl meshes. I can't see what's
the relation between the model and the state_publisher not wanting to
subscribe to joint_states.
What am I missing?
Pol Monsó
2010/11/16 Wim Meeussen [via ROS-Users]
:
>>I attach my resulting rxgraph in case it helps.
>> http://ros-users.122217.n3.nabble.com/file/n1911467/Captura.png
>
> The node graph shows that the robot_state_publisher node is not
> connected to the joint_states topic. You might have a typo in your
> topic names or remappings.
>
> Wim
>
>
>
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> Wim Meeussen
> Willow Garage Inc.
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