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joint_state_publisher can be used to publish states of the joints. See this link for details: (http://wiki.ros.org/joint_state_publisher)

The data being published can the be subscribed by the robot_state_publisher, which then uses this data and the robot description within the urdf file to compute forward kinematics and generate a transform for the entire robot. The following link may also be helpful to you. (https://answers.ros.org/question/275079/joint-state-publisher-and-robot-state-publisher/)

This is how these two nodes can be launched from within the launch file. <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"> </node>

joint_state_publisher can be used to publish states of the joints. See this link for details: (http://wiki.ros.org/joint_state_publisher)

The data being published can the then be subscribed by the robot_state_publisher, which then uses this data and the robot description within the urdf file to compute forward kinematics and generate a transform for the entire robot. The following link may also be helpful to you. (https://answers.ros.org/question/275079/joint-state-publisher-and-robot-state-publisher/)

This is how these two nodes can be launched from within the launch file. <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"> </node>