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Hi Florian, <br>
<br>
This was more of a simpler implementation choice then a design
decision. When robot_state_publisher was written all our joint states
came from one node synchronously. There's an open ticket to add this
capability <a class="moz-txt-link-freetext" href="https://code.ros.org/trac/ros-pkg/ticket/4464">https://code.ros.org/trac/ros-pkg/ticket/4464</a><br>
<br>
Tully<br>
<br>
On 11/22/2010 05:58 AM, Weißhardt, Florian wrote:
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<title>AW: [ros-users] robot_state_publisher with joint_states in
different messages does not compute tf for all joints</title>
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<p><font size="2">Hi,<br>
<br>
what's the reason/drawback for not having one robot_state_publisher and
one urdf that can deal with multiple joint_states messages for a serial
kinematic chain? ...which is, at least for me, the intuitive
understanding of a "global" /joint_states topic and a "global" urdf
description for the whole robot. Why dividing it into multiple
subsystems?<br>
<br>
Regards,<br>
Florian<br>
<br>
<br>
-----Ursprüngliche Nachricht-----<br>
Von: <a class="moz-txt-link-abbreviated" href="mailto:ros-users-bounces@code.ros.org">ros-users-bounces@code.ros.org</a> im Auftrag von David Lu!!<br>
Gesendet: Mo 22.11.2010 14:45<br>
An: User discussions<br>
Betreff: Re: [ros-users] robot_state_publisher with joint_states in
different messages does not compute tf for all joints<br>
<br>
This is the intended behavior. The standard approach to fixing it is to<br>
create a node that merges the two JointState messages. Alternatively,
you<br>
could use two separate URDF and two separate robot_state_publishers.<br>
<br>
-David!!<br>
<br>
On Mon, Nov 22, 2010 at 6:44 AM, Weißhardt, Florian <<br>
<a class="moz-txt-link-abbreviated" href="mailto:Florian.Weisshardt@ipa.fraunhofer.de">Florian.Weisshardt@ipa.fraunhofer.de</a>> wrote:<br>
<br>
> Dear ros users,<br>
><br>
><br>
><br>
> probably we figured out a bug in the robot_state_publisher (or are
not<br>
> using it correctly):<br>
><br>
><br>
><br>
> We are running a robot_state_publisher subscribed to the
/joint_states<br>
> topic and using a urdf robot_description. The transformation from<br>
> joint_states with urdf to tf transformations works only if<br>
><br>
> a) the joint information for the whole kinematic chain is
published<br>
> in one joint_states message or<br>
><br>
> b) at least there are no joints connected to a serial chain
and<br>
> published in different joint_states messages.<br>
><br>
><br>
><br>
> In our case e.g. there is a gripper attached to an arm. Both have
rotary<br>
> joints defined and are publishing joint_states in two different
joint_states<br>
> messages, but tf can only be computed for the arm, not for the
gripper.<br>
><br>
><br>
><br>
> Is this a known behaviour (bug?) or are we missing something?<br>
><br>
><br>
><br>
> Best regards,<br>
><br>
> Florian<br>
><br>
><br>
><br>
> _______________________________________________<br>
> ros-users mailing list<br>
> <a class="moz-txt-link-abbreviated" href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
> <a moz-do-not-send="true"
href="https://code.ros.org/mailman/listinfo/ros-users">https://code.ros.org/mailman/listinfo/ros-users</a><br>
><br>
><br>
<br>
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