Hi,

we solved the problem with a joint state aggregator. You can find the package in the cob_driver stack (installation with sudo apt-get install ros-cturtle-care-o-bot), the package is called cob_joint_state_aggregator.

The aggregator collects all messages on the topic "joint_states" and combines them to a unique message published to "joint_states_combined" which is then used as an input for the joint_state_publisher to calculate tf. To configure it for your robot have a look at the /ros/launch/cob3-yaml file, where you have to specify the joint_names for your robot.

I hope this helps.

Regards,
Florian




-----Ursprüngliche Nachricht-----
Von: ros-users-bounces@code.ros.org im Auftrag von David Lu!!
Gesendet: Mi 19.01.2011 21:07
An: User discussions
Betreff: Re: [ros-users] merging different joint_states
 
Ugo-
Your email reminded me that I was thinking about adding this feature to
joint_state_publisher. I've attached a version that I'll upload to our
repository after a little more testing.

    <node name="joint_state_publisher" type="joint_state_publisher"
pkg="joint_state_publisher" output="screen">
        <param name="robot_description" textfile="model.urdf" />
        <rosparam param="source_list">[head_states, body_states]</rosparam>
    </node>

This is how I launch it to merge the JointStates published on head_states
and body_states.

Let me know how well it works.

-David!!


On Wed, Jan 19, 2011 at 8:42 AM, Ugo Cupcic <ugo@shadowrobot.com> wrote:

> Hi,
>
> I have an arm and a hand publishing different joint_states messages and I'd
> like to merge them (having seen this discussion:
> http://ros-users.122217.n3.nabble.com/robot-state-publisher-with-joint-states-in-different-messages-does-not-compute-tf-for-all-joints-td1945465.html
> )
>
> Is there an existing node to merge the joint_states messages, or do I need
> to implement mine?
>
> Cheers,
>
> Ugo
>
> --
> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
> Software Engineer | 251 Liverpool Road |
> need a Hand? | London N1 1LX | +44 20 7700 2487
> http://www.shadowrobot.com/hand/ @shadowrobot
>
>
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