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>