Those names sound good. I'll change them in the next release. Thinking about it now, easy_state_publisher does seem like a special case of joint_controller. I never made the connection since I had written the one in C++ and the other in Python. Similarly, it might make more sense to change easy_tf_publisher to an option for robot_state_publisher where it doesn't require joint_state messages, and just publishes transforms with all the joint angles equal to zeros Thanks for the feedback, David!! On Wed, Sep 29, 2010 at 1:33 PM, John Hsu wrote: > Hi David, > Thank you for creating these tools!  I am sure they will come in handy in > lots of situations. > > Might I suggest renaming joint_controller to joint_state_publisher or > fake_joint_state_publisher?  Also, is easy_state_publisher is a special case > of joint_controller? > John > > On Tue, Sep 28, 2010 at 9:46 AM, David Lu!! wrote: >> >> Hey all, >> I wanted to announce a new package that resulted from my work this >> past summer. It's a handful of tools I've found useful for building >> urdf models. It's a stack with the clever name, "urdf_tools". >> http://www.ros.org/wiki/urdf_tools >> >> https://wu-ros-pkg.svn.sourceforge.net/svnroot/wu-ros-pkg/stacks/urdf_tools/trunk/ >> >> There are four packages inside. >>  * easy_state_publisher - Similar to robot_state_publisher, but >> doesn't require any input. Just outputs zeroed joint states or >> transforms for any given urdf model. >>  * joint_controller - Publishes joint states using a GUI interface >>  * arm_kinematics - My attempt at a generic kinematics package not >> coupled to the PR2 hardware >>  * simmechanics_to_urdf - The biggest package of all of them, used for >> converting CAD-like models to URDF. >> >> More information is on the respective wiki pages. Questions feedback >> and bug reports are most welcome. >> -David Lu!! >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >