I am trying to run two
robot_state_publisher nodes in parallel. My publications do not seem to
be getting to the second one. Here is some info:
Here is a part of my launch
file:
<param
name="robot_description" textfile="$(find foo)/bar.urdf"
/>
<node
name="robot_state_publisher" pkg="robot_state_publisher"
type="state_publisher" output="screen" >
<param
name="tf_prefix" value="robot" />
</node>
<node
name="sim_state_publisher" pkg="robot_state_publisher"
type="state_publisher" output="screen" >
<remap
from="joint_states" to="sim_joint_states" />
<param
name="tf_prefix" value="sim" />
</node>
And here are my publishers:
joint_pub_
= handle_.advertise<sensor_msgs::JointState>("/joint_states",
1);
sim_joint_pub_ =
handle_.advertise<sensor_msgs::JointState>("/sim_joint_states",
1);
…
joint_pub_.publish(joint_state_);
sim_joint_pub_.publish(sim_joint_state_);
In rxgraph, I don’t see
any connections going into the second robot_state_publisher (named sim_state_publisher).
Am I missing something? I am using Boxturtle, are there some features
listed in the wiki that aren’t in this version?
Thanks,
-Ben
Ben Axelrod
Research Scientist
iRobot Corporation
8 Crosby Drive, Mail Stop 8-1
Bedford, MA 01730
(781) 430-3315 (Tel)
(781) 960-2628 (Fax)