Hi Mike, Have a look at the robot_state_publisher package: http://www.ros.org/wiki/robot_state_publisher It will be able to broadcast transforms for the whole robot if you provide it with the joint angles. Sachin On Sun, Mar 21, 2010 at 10:40 PM, Mike Phillips wrote: > Hi, > We have a urdf of a robot which we are using to run our robot in > gazebo.  The robot displays properly in rviz and I believe that gazebo > is broadcasting the transforms using the information from the urdf. > My question is if there is a package that will provide this > functionality so that if we want to run this on the real robot (and > therefore are not using gazebo) the transforms would still all get > published.  I could create a bunch of tf broadcasters for each of the > joints but I thought there might be a simpler way especially since > gazebo already seems to do this.  This would especially be helpful for > the many fixed joints in the robot so that I wouldn't have to > replicate much of the urdf with several static_transform_publisher. > > Thanks, > -Mike- > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Sachin Chitta Research Scientist Willow Garage