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In the official page MoveIt! concepts, under the Joint State Information section, it says that:

Note that move_group will not setup its own joint state publisher - this is something that has to be implemented on each robot.

Also when I tried following:

$ roslaunch seven_dof_arm_gazebo seven_dof_arm_bringup_moveit.launch

$ roslaunch seven_dof_arm_config moveit_planning_execution.launch
OR
$ roslaunch seven_dof_arm_config moveit_rviz.launch

Then when I try to execute the plan, It outputs: [ WARN] [1508769661.548873800, 62.280000000]: Failed to validate trajectory: couldn't receive full current joint state within 1s

but after running this:

$ rostopic list -v

It outputs: /seven_dof_arm/joint_states [sensor_msgs/JointState] 1 publisher

(I cannot understand why this is not working)

so I added following code in the seven_dof_arm_bringup_moveit.launch file:

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

and It worked fine.