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Putting this into a yaml file vs embedding it in the launch file doesn't make much difference. They can both be parameterized etc. But i think that your instinct is right, it's not really the right place to be.

The cleanest solution I can suggest is to put the links into your URDF such that it will be published through the same process as all the other links/joints. You can use a xacro macro to parameterize the links there if you want or just to turn the radar mount on and off. But really the mount point is part of the robot description and if added there will be published by the robot_state_publisher automatically not requiring a standalone invocation like this.