[ros-users] two robot_state_publishers?

I am trying to run two robot_state_publisher nodes in parallel. My
publications do not seem to be getting to the second one. Here is some
info:



Here is a part of my launch file:



<param name="robot_description" textfile="$(find foo)/bar.urdf" />



<node name="robot_state_publisher" pkg="robot_state_publisher"
type="state_publisher" output="screen" >

    <param name="tf_prefix" value="robot" />

</node>



<node name="sim_state_publisher" pkg="robot_state_publisher"
type="state_publisher" output="screen" >

    <remap from="joint_states" to="sim_joint_states" />

    <param name="tf_prefix" value="sim" />

</node>



And here are my publishers:

    joint_pub_ =
handle_.advertise<sensor_msgs::JointState>("/joint_states", 1);

    sim_joint_pub_ =
handle_.advertise<sensor_msgs::JointState>("/sim_joint_states", 1);

    ...

    joint_pub_.publish(joint_state_);

    sim_joint_pub_.publish(sim_joint_state_);

In rxgraph, I don't see any connections going into the second
robot_state_publisher (named sim_state_publisher). Am I missing
something? I am using Boxturtle, are there some features listed in the
wiki that aren't in this version?



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)

baxelrod@irobot.com <mailto:ofitch@irobot.com>