Hi,

I figured it out. My urdf model didn't have the same number of joints as 
my published joint_states messages. I thought the robot_state_publisher 
would ignore the published joint_states messages that he wasn't able to 
map to the model but it doesn't seem to be the case (it's safer this way 
I guess).

Thanks for all your answers.

Cheers,

Ugo

Vijay Pradeep wrote:
> Hi Ugo,
> 
> I'm guessing this line isn't doing what you want it to:
> * <param name="joint_states" value="/joint_states"/>*
> 
> This should probably instead be a <remap> tag, since joint_states is a 
> topic and not a parameter.  You could also potentially get rid of this 
> line entirely, assuming that nothing has been pushed into namespaces.  
> That is, "joint_states" and "/joint_states" resolve to the same name for 
> nodes in the "/" namespace.
> 
> Vijay
> 
> On Wed, Mar 31, 2010 at 10:22 AM, Wim Meeussen 
> <meeussen@willowgarage.com <mailto:meeussen@willowgarage.com>> wrote:
> 
>      > I don't understand what those 2 lines are for in the tutorial:
>      > <remap from="robot_description" to="different_robot_description" />
>      > <remap from="joint_states" to="different_joint_states" />
> 
>     These two lines are optional, to make the robot state publisher read
>     the robot description from a different parameter, or to listen to
>     joint states on a different topic. But since you are using the default
>     names, you won't need these lines.
> 
> 
>     Your launch file looks good. If the callbackJointState is never
>     called, this probably means the robot state publisher is not connected
>     to your joint state publisher. You should try some of the ros tools to
>     verify which topics are connected:
>      * rostopic info /joint_states  --> This will show all the nodes that
>     are publishing/subscribing to this topic
>      * rxgraph --> This will give a graphical representation of the ros
>     network
>      * rosnode info robot_state_publisher --> This will show all topics
>     used by the robot state publisher
>      * roswtf --> This will tell you about problems (such as unconnected
>     topics) in your system
> 
>     Also, when you are running nodes, make sure you are running rxconsole.
>     Not all user feedback gets printed to the terminal and you might be
>     missing some useful feedback.
> 
>     Wim
> 
> 
> 
> 
>     --
>     Wim Meeussen
>     Willow Garage Inc.
>     <http://www.willowgarage.com)
>     _______________________________________________
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> 
> 
> 
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-- 
Ugo Cupcic         |  Shadow Robot Company | ugo@shadowrobot.com
Software Engineer      251 Liverpool Road
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