> Hi,
>
> the common way is to run a robot_state_publisher which takes the joint
> states on a topic and publishes the transforms. You find the corresponding
> tutorial here:
>
http://www.ros.org/wiki/robot_state_publisher/Tutorials/Using%20the%20robot%20state%20publisher%20on%20your%20own%20robot
>
> Lorenz
>
>> What is the typical usage when publishing transforms to match a urdf
>> file? For example, the urdf file has the standard form:
>>
>> Link1 -> Joint1 -> Link2 -> Joint2 -> Link3
>>
>> In my code, I tf broadcast the joint angles. (i.e. Link1 -> Joint1 and
>> Link2 -> Joint2). But must I also broadcast the link transforms even
>> though they never change? (i.e. Joint1 -> Link2 and Joint2 -> Link3).
>> Is there some way to avoid this?
>>
>> But what I would REALLY like to do for now is just view the URDF file in
>> rviz. But despite all origins being specified in the file, rviz says it
>> can't find the transforms between the objects. Is there a simple URDF
>> file viewer (in boxturtle)?
>>
>> Thanks,
>> -Ben
>>
>
> --
> Lorenz Mösenlechner |
moesenle@in.tum.de
> Technische Universität München | Boltzmannstr. 3
> 85748 Garching bei München | Germany
>
http://ias.cs.tum.edu/ | Tel: +49 (89) 289-26910
>