This is the intended behavior. The standard approach to fixing it is to create a node that merges the two JointState messages. Alternatively, you could use two separate URDF and two separate robot_state_publishers.
Dear ros users,
probably we figured out a bug in the robot_state_publisher (or are not using it correctly):
We are running a robot_state_publisher subscribed to the /joint_states topic and using a urdf robot_description. The transformation from joint_states with urdf to tf transformations works only if
a) the joint information for the whole kinematic chain is published in one joint_states message or
b) at least there are no joints connected to a serial chain and published in different joint_states messages.
In our case e.g. there is a gripper attached to an arm. Both have rotary joints defined and are publishing joint_states in two different joint_states messages, but tf can only be computed for the arm, not for the gripper.
Is this a known behaviour (bug?) or are we missing something?
Best regards,
Florian
_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users