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Initially I tried writing directly to robot_state_publisher, but for some reason that caused my URDF to fall apart (all robot links would appear at the origin) so I wrote to joint_sp instead. After I finished writing my simulator node (it just produces sine waves for joint positions to test the URDF), I wrote directly to robot_sp instead of joint_sp and now it works perfectly. I don't know what the problem was, but everything seems to working now.

Initially I tried writing directly to robot_state_publisher, but for some reason that caused my URDF to fall apart (all robot links would appear at the origin) so I wrote to joint_sp instead. joint_state_publisher instead and that worked somewhat. After I finished writing my simulator node (it just produces sine waves for joint positions joint_state test node, I switched it back to test the URDF), I wrote write directly to robot_sp robot_state_publisher again instead of joint_sp joint_state_publisher and now it everything works perfectly. I don't know what the problem was, but everything seems to working now.was.