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After a lot of digging, I was lead to a solution by reading this tutorial: http://www.pirobot.org/blog/0023/

What's needed is the file dynamixel_joint_state_publisher.py, a copy can be found here. This file replaces joint_state_publisher and will connect your dynamixels to robot_state_publisher when configured correctly.

For that to happen, you will need a correct URDF model of your joints. More importantly, you will need to set the dynamixels param (read by the dynamixel_joint_publisher script) to a list of your joint names like this:

<rosparam param="dynamixels">[joint1 joint2 joint3]</rosparam>

These joint names have to correspond to what's in the URDF file and your dynamixel launch files. Then, you will have to make sure the namespaces are compatible. You won't need to publish static transforms if your URDF model correctly specifies the links and the joints.