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Disregard, as per the construct I had to change the value for my environment_server, use_monitor parameter to true (as I wanted the environment server to use actual tf data from my model) as listed in the fine print here.

But that was still not working as it was currently waiting for the full state of the robot. I had been only pubishing the joint states for the joints I had wanted to control. But I needed to publish all the joint states as listed in my urdf file (ie including joints describing grippers etc) once I did that the environment_server started working. correctly.