I am using the robot_state_publisher to convert my joint angles to tf
transforms. However, it seems that the robot_state_publisher doesn't
like it when you send it different joints at different times. In other
words, robot_state_publisher doesn't maintain any state...
For example, my urdf has 2 joints:
Base -> joint1 -> link1 -> joint2 -> link2
If I send it joint1, then at a later time I send it joint 2, I get this
error:
Node: /robot_state_publisher
Time: 1285876513.251897000
Severity: Error
Location:
/home/arm_user/darpa_arm_software/stacks/robot_model/robot_state_publish
er/src/robot_state_publisher.cpp:RobotStatePublisher::publishTransforms:
78
Published Topics: /rosout, /tf
Could not compute link poses. The tree or the state is invalid.
But if I send both joints at once, then everything is fine. This seems
like a major limitation to me. Am I missing something?
I am using boxturtle. And am using robot_state_publisher running as a
node.
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>