>I attach my resulting rxgraph in case it helps. > http://ros-users.122217.n3.nabble.com/file/n1911467/Captura.png The node graph shows that the robot_state_publisher node is not connected to the joint_states topic. You might have a typo in your topic names or remappings. Wim -- -- Wim Meeussen Willow Garage Inc.