Maybe this is causing robot state publisher to fail quietly.
On Wed, Apr 7, 2010 at 3:08 AM, Ugo Cupcic
<ugo@shadowrobot.com> wrote:
Wim,
The urdf model which doesn't work contained two links and a joint. I tried it once more and I don't get a warning in the rxconsole. Still the robot_state_publisher didn't subscribe to the /joint_states topic.
The dummy.xml file I attached is my simplified urdf model that doesn't work. I have a more complete urdf model which works fine.
Cheers,
Ugo
Wim Meeussen wrote:
Ugo,
I figured it out. My urdf model didn't have the same number of joints as
my published joint_states messages.
I don't think this was your problem. The robot state publisher does
not care about additional/missing joints in the joint_states message.
rostopic info /joint_states
Type: sensor_msgs/JointState
Publishers:
* /shadowhand_publisher (http://ulster:35258/)
Subscribers: None
The output above shows the problem: no node is subscribed to the
joint_states topic. So the robot state publisher is not receiving any
messages. This should only happen when you give the robot state
publisher a urdf with no or only one link. In that case, the robot
state publisher couldn't possible publish anything, and it therefore
does not subscribe to the joint_states topic.
But, you should have seen a warning in 'rxconsole'. It should have
shown either "Robot state publisher got an empty tree and cannot
publish any state to tf" or "Robot state publisher got a tree with
only one segment and cannot publish any state to tf". After it shows
this warning, the robot state publisher just sits there, unable to do
anything. I guess that is quite a confusing state. We had a discussion
about this here <https://code.ros.org/trac/ros-pkg/ticket/3224>. Feel
free to add comments based on your experience with the robot state
publisher.
Wim
--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)
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