> Using the robot state publisher with multiple sources of joint state > is indeed a feature we want to add. I didn't realize that so many > people were waiting for this to happen, and even implemented their own > robot state publishers!  We would love to see those efforts getting > channeled into the released version of the robot state publisher. > Our current proposal for this feature is described in ticket > . I just pushed out an implementation of the new robot state publisher into the 'default' branch on kforge . I think this version implements all requests we got from users: * Receive joint state messages from multiple sources without prior aggregation * Publish fixed joints from a separate thread * Full, non-flattened tree If you want to test this out, you can download the latest robot_model stack using: hg clone https://kforge.ros.org/robotmodel/robot_model If you find any problems, or have other usecases that are not covered yet, feel free to comment or to file a ticket on . Wim -- -- Wim Meeussen Willow Garage Inc.