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<P><FONT SIZE=2>Hi,<BR>
<BR>
we solved the problem with a joint state aggregator. You can find the package in the cob_driver stack (installation with sudo apt-get install ros-cturtle-care-o-bot), the package is called cob_joint_state_aggregator.<BR>
<BR>
The aggregator collects all messages on the topic "joint_states" and combines them to a unique message published to "joint_states_combined" which is then used as an input for the joint_state_publisher to calculate tf. To configure it for your robot have a look at the /ros/launch/cob3-yaml file, where you have to specify the joint_names for your robot.<BR>
<BR>
I hope this helps.<BR>
<BR>
Regards,<BR>
Florian<BR>
<BR>
<BR>
<BR>
<BR>
-----Ursprüngliche Nachricht-----<BR>
Von: ros-users-bounces@code.ros.org im Auftrag von David Lu!!<BR>
Gesendet: Mi 19.01.2011 21:07<BR>
An: User discussions<BR>
Betreff: Re: [ros-users] merging different joint_states<BR>
<BR>
Ugo-<BR>
Your email reminded me that I was thinking about adding this feature to<BR>
joint_state_publisher. I've attached a version that I'll upload to our<BR>
repository after a little more testing.<BR>
<BR>
<node name="joint_state_publisher" type="joint_state_publisher"<BR>
pkg="joint_state_publisher" output="screen"><BR>
<param name="robot_description" textfile="model.urdf" /><BR>
<rosparam param="source_list">[head_states, body_states]</rosparam><BR>
</node><BR>
<BR>
This is how I launch it to merge the JointStates published on head_states<BR>
and body_states.<BR>
<BR>
Let me know how well it works.<BR>
<BR>
-David!!<BR>
<BR>
<BR>
On Wed, Jan 19, 2011 at 8:42 AM, Ugo Cupcic <ugo@shadowrobot.com> wrote:<BR>
<BR>
> Hi,<BR>
><BR>
> I have an arm and a hand publishing different joint_states messages and I'd<BR>
> like to merge them (having seen this discussion:<BR>
> <A HREF="http://ros-users.122217.n3.nabble.com/robot-state-publisher-with-joint-states-in-different-messages-does-not-compute-tf-for-all-joints-td1945465.html">http://ros-users.122217.n3.nabble.com/robot-state-publisher-with-joint-states-in-different-messages-does-not-compute-tf-for-all-joints-td1945465.html</A><BR>
> )<BR>
><BR>
> Is there an existing node to merge the joint_states messages, or do I need<BR>
> to implement mine?<BR>
><BR>
> Cheers,<BR>
><BR>
> Ugo<BR>
><BR>
> --<BR>
> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com<BR>
> Software Engineer | 251 Liverpool Road |<BR>
> need a Hand? | London N1 1LX | +44 20 7700 2487<BR>
> <A HREF="http://www.shadowrobot.com/hand/">http://www.shadowrobot.com/hand/</A> @shadowrobot<BR>
><BR>
><BR>
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<BR>
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