Hi,

Thanks for your answers. However it still doesn't work :S
I copied the output of the commands Wim sent me at the end of the email.

roswtf give me an error: Local network configuration is invalid: Local 
hostname [ulster] resolves to [127.0.1.1], which does not appear to be a 
local IP address ['10.1.1.146', '127.0.0.1'].

I don't understand as my ROS_MASTER_URI is correctly set.
echo $ROS_MASTER_URI
http://10.1.1.146:11311


Cheers,

Ugo

-------------

 > rosnode list
/robot_state_publisher
/rosout
/shadowhand_publisher


--------------


 > rostopic info /joint_states

Type: sensor_msgs/JointState

Publishers:
  * /shadowhand_publisher (http://ulster:35258/)

Subscribers: None

------------
rosnode info robot_state_publisher
Node [/robot_state_publisher]

Publications:
  * /rosout [roslib/Log]

Subscriptions:
  * /time [unknown type]
  * /clock [unknown type]

Services:
  * /robot_state_publisher/get_loggers
  * /robot_state_publisher/set_logger_level

contacting node http://ulster:59937/ ...
Pid: 3484
Connections:
  * topic: /rosout
     * to: /rosout
     * direction: outbound
     * transport: TCPROS


----------
roswtf
Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:

Found 1 error(s).

ERROR Local network configuration is invalid: Local hostname [ulster] 
resolves to [127.0.1.1], which does not appear to be a local IP address 
['10.1.1.146', '127.0.0.1'].

NOTE: for more accurate IP address detection, install netifaces:
         sudo easy_install netifaces
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules

Online checks summary:

No errors or warnings


Vijay Pradeep wrote:
> Hi Ugo,
> 
> I'm guessing this line isn't doing what you want it to:
> * <param name="joint_states" value="/joint_states"/>*
> 
> This should probably instead be a <remap> tag, since joint_states is a 
> topic and not a parameter.  You could also potentially get rid of this 
> line entirely, assuming that nothing has been pushed into namespaces.  
> That is, "joint_states" and "/joint_states" resolve to the same name for 
> nodes in the "/" namespace.
> 
> Vijay
> 
> On Wed, Mar 31, 2010 at 10:22 AM, Wim Meeussen 
> <meeussen@willowgarage.com <mailto:meeussen@willowgarage.com>> wrote:
> 
>      > I don't understand what those 2 lines are for in the tutorial:
>      > <remap from="robot_description" to="different_robot_description" />
>      > <remap from="joint_states" to="different_joint_states" />
> 
>     These two lines are optional, to make the robot state publisher read
>     the robot description from a different parameter, or to listen to
>     joint states on a different topic. But since you are using the default
>     names, you won't need these lines.
> 
> 
>     Your launch file looks good. If the callbackJointState is never
>     called, this probably means the robot state publisher is not connected
>     to your joint state publisher. You should try some of the ros tools to
>     verify which topics are connected:
>      * rostopic info /joint_states  --> This will show all the nodes that
>     are publishing/subscribing to this topic
>      * rxgraph --> This will give a graphical representation of the ros
>     network
>      * rosnode info robot_state_publisher --> This will show all topics
>     used by the robot state publisher
>      * roswtf --> This will tell you about problems (such as unconnected
>     topics) in your system
> 
>     Also, when you are running nodes, make sure you are running rxconsole.
>     Not all user feedback gets printed to the terminal and you might be
>     missing some useful feedback.
> 
>     Wim
> 
> 
> 
> 
>     --
>     Wim Meeussen
>     Willow Garage Inc.
>     <http://www.willowgarage.com)
>     _______________________________________________
>     ros-users mailing list
>     ros-users@code.ros.org <mailto:ros-users@code.ros.org>
>     https://code.ros.org/mailman/listinfo/ros-users
> 
> 
> 
> ------------------------------------------------------------------------
> 
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-- 
Ugo Cupcic         |  Shadow Robot Company | ugo@shadowrobot.com
Software Engineer      251 Liverpool Road
need a Hand?           London  N1 1LX       | +44 20 7700 2487
http://www.shadowrobot.com/hand/              @shadowrobot