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
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