Hi,
I figured it out. My urdf model didn't have the same number of joints as
my published joint_states messages. I thought the robot_state_publisher
would ignore the published joint_states messages that he wasn't able to
map to the model but it doesn't seem to be the case (it's safer this way
I guess).
Thanks for all your answers.
Cheers,
Ugo
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)
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>
>
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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
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