ros gazebo plugin : joint state topic frame_id is blank

I am running the gazebo plugin that publishes "/rrbot/joint1positioncontroller/state" topics for defined joint transmissions.

The data is published but the frame_id is blank.

Should the frame id be present? And should it in the above case "Joint1" or whatever name is given in the yaml file.

Asked by rnunziata on 2013-08-22 16:30:11 UTC

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Answers

The frame_id field represents the "frame this data is associated with" (source: std_msgs/Header). Messages carrying joint-space information (like in your case) have no frame associated to their data.

Note that the message definition states that the special value zero represents no frame, but in practice it's much more common to leave the field unspecified than to set it to zero.

Asked by Adolfo Rodriguez T on 2013-08-22 21:01:30 UTC