On 12/20/2010 04:41 PM, Antons Rebguns wrote:
> Pablo,
>
>     Perfect. The code is almost complete, we initially forked your
>     ua_erratic_player package but definitely is better to patch your
>     package.
>
>
> Great! Just send me an email whenever you think the code is ready and 
> I will it to the driver.
>
>
>     Yep. It's the most straight forward method.
>     mmm but anyways sooner or latter we'll have to publish in a
>     JointStateArray and connect it with a robot_state_publisher given
>     that we'll need the vision_ptz frame to locate the vision device
>     point cloud. This info can be published also by the erratic node.
>     Do you agree? :-?
>
>
> I would think each joint just needs to continuously publish it's 
> current position, another node collects all joint positions from all 
> the motors on the robot and just publishes a single joint_states 
> message. That message gets picked up by robot_state_publisher which 
> publishes tf transforms based on urdf description.
>
> Now, I am not sure it's the best way, but I am also no sure what will 
> happen if every motor on the robot starts publishing to joint_states 
> directly, will the robot_state_publisher still work ok? Anybody has 
> comments on that?
This is not currently supported by robot state publisher but there's an 
open ticket to make it work.  
https://code.ros.org/trac/ros-pkg/ticket/4464  The current problem is an 
implementation detail not a design choice so should be fixable.

Tully
>
>
>     Definitely.  I was thinking again in a "look at" method because
>     initially I though that the ranger actuator was a ptz too.
>
>     One question more. Do you have' any erratic specification document
>     where I may find precise measurements of the sonar devices
>     arrangement? I need a more detailed urdf description to get all
>     the sonar devices frames. This is needed to fill the Range message
>     properly. The problem is that none of the specification documents
>     of erratics that I find contain such information.
>
>
> No, I don't have any specific docs about exact sonar placement. Here 
> is a link to the manual from the site though:
>
> http://www.videredesign.com/assets/docs/manuals/man_era_rev_h.pdf
>
> page 25 talks about sonars and has a picture of the placement but 
> there are no dimensional drawings.
>
> Thanks,
> Anton
>
>
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users