ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
You should not use the robot_state_publisher
to drive something. As the name suggests, this publishes the state of the robot, (quote)
robot_state_publisher
uses the URDF specified by the parameterrobot_description
and the joint positions from the topicjoint_states
to calculate the forward kinematics of the robot and publish the results viatf
.
To drive the robot arm you need to use a controller. The arms joints send their state then to the robot_state_publisher
which again translates that to tf
.
There is, however, a parameter publish_frequency
that should let you specify the frequency of the robot_state_publisher
. Default is 50Hz.