> Is there a way to publish a floating joint position using robot state
> publisher?  It seems unlikely, since multiple dimensions are involved.

The  robot state publisher only deals with single degree of freedom
joints (rotational and prismatic). But you can of course create a
multi degree of freedom joint by composing multiple single degree of
freedom joints. So you would create a urdf that uses 6 joints to
describe 1 floating joint.

Wim


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Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)