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Any news on this issue?
We are working in a continuous calibration approach of a movable robot cell, so the calibration could change at any moment, but reloading the urdf model is not possible for us.
The best solution would be if the joint_state_publisher/robot_state_publisher fully support floating joints. Is somebody working on that? The main problem is that the sensor_msgs/JointState does not have a type field to specify which type of joint it is, so only supports joints with one degree of freedom. Maybe it could be possible to have joints more values in the array, and letting the joint_state_publisher/robot_state_publisher to match each joint according to the type associate to the name the joint. But this would break the current standard message.
Any ideas?
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