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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!

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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.

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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

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

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Last updated: Aug 26 '14