Ask Your Question
0

Requiring deep understanding of robot_state_publisher and TF

asked 2014-04-22 15:21:23 -0600

Yantian_Zha gravatar image

updated 2014-08-26 03:10:24 -0600

bvbdort gravatar image

Hi all,

I have turtlebot2, groovy, turtlebot arm. In reading the tutorial Using urdf with robot_state_publisher, I'm confused in its launch file.

Why there are two "state_publishers" ?

one is "robot_state_publisher", and the other is "state_publisher")

By saying "need a method for specifying what state the robot is in" the tutorial points out the function of "state_publisher",

But in checking robot_state_publisher package we can see the function of robot_state_publisher is "allows you to publish the state of a robot to tf", which seems similar to the function of "state_publisher".

My goal is to broadcaster TF info, so my turtlebot arm can do grasping based on it(which have tf listening function). I have a URDF of turtlebot with arm.

Thanks for your help!

edit retag flag offensive close merge delete

2 Answers

Sort by » oldest newest most voted
2

answered 2014-08-26 03:25:20 -0600

The naming appears to be a bit confusing indeed. There are different representations of a robot´s state. The state_publisher in the tutorial publishes the JointState of the robot, while the robot_state_publisher publishes full 6DOF tf data for all links of the robot, essentially fusing the static information about the robot from the URDF model and the dynamically changing JointState information.

edit flag offensive delete link more
0

answered 2014-08-26 01:27:29 -0600

Andromeda gravatar image

I had the same problems. Maybe my thread helps you a little bit: Link

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2014-04-22 15:21:23 -0600

Seen: 241 times

Last updated: Aug 26 '14