[ros-users] URDF -> robot_state_publisher -> TF confusion

Andreas Vogt andreas.vogt at dfki.de
Tue Nov 16 14:52:22 UTC 2010

Hi Pol,

I think you need the joint_state publisher:

<param name="robot_description" textfile="robot.xml" />
<node name="robot_state_publisher" pkg="robot_state_publisher" 
type="state_publisher" output="screen" />
<node name="joint_state_publisher" pkg="joint_state_publisher" 
type="joint_state_publisher" output="screen" />


On 16.11.2010 15:41, pol.monso wrote:
> I'm basically doing the same thing as Jeff here, I have a node publishing
> the jointState's messages on /joint_state topic. What I understood from
> http://www.ros.org/wiki/robot_state_publisher/Tutorials/Using%20the%20robot%20state%20publisher%20on%20your%20own%20robot
> is that the robot_state_publisher would subscribe to the /joint_state topic
> and together with the urdf model from the parameter server it would send the
> appropriate poses of each link to the tf listener (rviz for that matter).
> I can't get rid of the "No transform from /whatever /odom" message. The only
> transform available is the one I specifically send from the /odom to the
> root node of my urdf model.
> The launch file content follows in case it were of any help, any further
> information necessary let me know. The urdf model is correctly parsed,
> flatten out and displayed collapsed on rviz.
> Pol Monsó
> http://ros-users.122217.n3.nabble.com/file/n1911159/wam.launch wam.launch

Andreas Vogt
Logistics and Production Robotics

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