> 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? I really like the idea of the joint_state_publisher gui, it makes visualizing and debugging a urdf file much easier. This would even allow you to use rviz to debug a urdf file. This is something we should absorb into the robot_model stack (we'll have to look into the dependencies). For the easy_state_publisher, I'd think that if we give the new joint_state_publisher the ability to run without a gui, it would be possible to run it in combination with the current robot_state_publisher offers the same (and much more!) functionality. What do you think? Wim -- -- Wim Meeussen Willow Garage Inc.