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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 parameter robot_description and the joint positions from the topic joint_states to calculate the forward kinematics of the robot and publish the results via tf.

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.