Pablo,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.
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?
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.
Definitely. I was thinking again in a "look at" method because initially I though that the ranger actuator was a ptz too.
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
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