I am using the robot_state_publisher
to convert my joint angles to tf transforms. However, it seems that the robot_state_publisher
doesn’t like it when you send it different joints at different
times. In other words, robot_state_publisher doesn’t maintain any
state…
For example, my urdf has 2
joints:
Base -> joint1 -> link1
-> joint2 -> link2
If I send it joint1, then at
a later time I send it joint 2, I get this error:
Node: /robot_state_publisher
Time: 1285876513.251897000
Severity: Error
Location:
/home/arm_user/darpa_arm_software/stacks/robot_model/robot_state_publisher/src/robot_state_publisher.cpp:RobotStatePublisher::publishTransforms:78
Published Topics: /rosout,
/tf
Could not compute link poses.
The tree or the state is invalid.
But if I send both joints at
once, then everything is fine. This seems like a major limitation to me. Am
I missing something?
I am using boxturtle.
And am using robot_state_publisher running as a node.
Thanks,
-Ben
Ben Axelrod
Research Scientist
iRobot Corporation
8 Crosby Drive, Mail Stop 8-1
Bedford, MA 01730
(781) 430-3315 (Tel)
(781) 960-2628 (Fax)