[ros-users] URDF -> robot_state_publisher -> TF confusion
pol.monso+tools at gmail.com
Tue Nov 16 22:25:18 UTC 2010
I'll set them appropiatelly right away, it sounds like it. For the
record, I guess I can alternativelly compute the FK of each joint
myself and publish them to /tf.
Thank you all,
2010/11/16 John Hsu [via ROS-Users]
<ml-node+1913648-1689660103-268019 at n3.nabble.com>:
> 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.
> On Tue, Nov 16, 2010 at 1:33 PM, pol.monso <[hidden email]> 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
>> 2010/11/16 Wim Meeussen [via ROS-Users]
>> <[hidden email]>:
>> >> 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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