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

[John Hsu]

Hi,
All the joints in your urdf are fixed joints.  For robot state publisher to
work, you need a revolute or prismatic joint in your robot.
John

On Tue, Nov 16, 2010 at 1:33 PM, pol.monso
<pol.monso+tools at gmail.com<pol.monso%2Btools at gmail.com>
> wrote:

>
> Well, everything seems correct and yet it does not try to connect. The
> rosnode info robot_state_publisher output is the same as shown on
> rxgraph when mouseovering on the node right?
>
> Since it works with the tutorial urdf model, I'll try to isolate the
> problem.
>
> 2010/11/16 Wim Meeussen [via ROS-Users]
> <ml-node+1913215-863718889-268019 at n3.nabble.com<ml-node%2B1913215-863718889-268019 at n3.nabble.com>
> >:
> >> The two nodes not being connected was what I noticed too. I am using
> >> the robot_state_publisher as showed similarly in
> >>
> >>
> http://www.ros.org/wiki/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher
> >> which I managed to get working.
> >>
> >> If the state_publisher is supposed to automatically connect to the
> >> joint_states topic, what could prevent it to do so?
> >
> > It will automatically connect if the names of the topics match up. You
> > can check what it is trying to connect to by using "rosnode info
> > robot_state_publisher". The joint_states topic should be listed as one
> > of the subscribed topics. Also, the "rostopic info joint_states"
> > command is useful for debugging this.
> >
> > Let me know if you have any more questions.
> >
> > Wim
> >
> >
> > --
> > --
> > Wim Meeussen
> > Willow Garage Inc.
> > <http://www.willowgarage.com)
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