[ros-users] Weirdness in URDF tutorials

[Björn Giesler]

Hi,

indeed, changing the joint type to revolute did the trick! On to building the full model then...

Thanks a lot!

Regards,
Björn


Am 29.12.2010 um 19:00 schrieb Wim Meeussen:

>> I remember that robot_state_publisher does not publish any transforms unless
>> there is at least a revolute or prismatic joint in your urdf... Wim, can you
>> confirm this?
> 
> If your urdf only has fixed joints, the robot state publisher will
> automatically publish transforms to tf at the specified frequency,
> even when nothing gets published on the joint_states topic. As soon as
> you have at least one non-fixed joint, you need to publish joint
> states to have the robot state publisher to anything.
> 
> The current version of the robot state publisher however has a bug in
> the case all joints are fixed joints. It does not assign the correct
> timestamp to the tf messages. There is an unreleased fix in trunk
> <http://www.ros.org/wiki/robot_model/ChangeList/1.3>.  I created a
> ticket as a reminder to push out a release of robot_model
> <https://code.ros.org/trac/ros-pkg/ticket/4658>
> 
> Wim
> 
> 
> 
> 
> 
> 
> -- 
> --
> Wim Meeussen
> Willow Garage Inc.
> <http://www.willowgarage.com)
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> ros-users mailing list
> ros-users at code.ros.org
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> 

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Björn Giesler
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