> Using the robot state publisher with multiple sources of joint state
> is indeed a feature we want to add. I didn't realize that so many
> people were waiting for this to happen, and even implemented their own
> robot state publishers! We would love to see those efforts getting
> channeled into the released version of the robot state publisher.
> Our current proposal for this feature is described in ticket
> <https://code.ros.org/trac/ros-pkg/ticket/4464>.
I just pushed out an implementation of the new robot state publisher
into the 'default' branch on kforge
<
https://kforge.ros.org/project/robotmodel/services/robot_model>. I
think this version implements all requests we got from users:
* Receive joint state messages from multiple sources without prior aggregation
* Publish fixed joints from a separate thread
* Full, non-flattened tree
If you want to test this out, you can download the latest robot_model
stack using:
hg clone
https://kforge.ros.org/robotmodel/robot_model
If you find any problems, or have other usecases that are not covered
yet, feel free to comment or to file a ticket on
<
https://code.ros.org/trac/ros-pkg>.
Wim
--
--
Wim Meeussen
Willow Garage Inc.
<
http://www.willowgarage.com)
(text/plain)