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This looks like a duplicate of How to visualize a real robot in Rviz, but just to reiterate:
If you have a node that already publishes joint states for your real robot, then you don't need to start joint_state_publisher
.
An instance of joint_state_publisher
is only needed if:
JointState
messages and you want to fake them (use_gui:=true
)JointState
messages and want to aggregate them (source_list:=[..]
)[..] I don't know how to resolve the conflict between my own node and joint_state_publisher node [..]
Just don't start joint_state_publisher
(but see the points above).