[ros-users] two robot_state_publishers?

[Axelrod, Benjamin]

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 at irobot.com <mailto:ofitch at irobot.com> 

 

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