> If its subtrees, then you could publish the two arms of the PR2
> separately, which seems good.However, I have one URDF that represents
> our B21r AND the pan tilt unit on top, with the joint states are
> coming from two separate nodes. The PTU location depends on the joint
> state of the B21r.
>
> I think if its the arbitrary subsets (which I think is what you're
> describing), then yes, both my use cases would fit.

Yes, we're talking about supporting arbitrary subsets of the tree. I
updated the ticket to reflect this:

<https://code.ros.org/trac/ros-pkg/ticket/4464>


Wim


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