[ros-users] Easy way to broadcast tf from a urdf?

[Sachin Chitta]

Hi Mike,

Have a look at the robot_state_publisher package:
http://www.ros.org/wiki/robot_state_publisher

It will be able to broadcast transforms for the whole robot if you
provide it with the joint angles.

Sachin

On Sun, Mar 21, 2010 at 10:40 PM, Mike Phillips <miph at seas.upenn.edu> wrote:
> Hi,
> We have a urdf of a robot which we are using to run our robot in
> gazebo.  The robot displays properly in rviz and I believe that gazebo
> is broadcasting the transforms using the information from the urdf.
> My question is if there is a package that will provide this
> functionality so that if we want to run this on the real robot (and
> therefore are not using gazebo) the transforms would still all get
> published.  I could create a bunch of tf broadcasters for each of the
> joints but I thought there might be a simpler way especially since
> gazebo already seems to do this.  This would especially be helpful for
> the many fixed joints in the robot so that I wouldn't have to
> replicate much of the urdf with several static_transform_publisher.
>
> Thanks,
> -Mike-
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-- 
Sachin Chitta
Research Scientist
Willow Garage