Multiple publishers on joint_states topic

asked 2014-06-11 04:22:19 -0500

mark_vision gravatar image

Hi all, I have two ROS nodes (one Hydro, the other Fuerte) that are publishing on the topic joint_states topic. The master is on Hydro and executes the node wit a PTU driver and the robot_state_publisher, the other one is running on the robot and publishes the joint states. If I try to run them together, they overwrite each other (the last one wins). I would like to have them running together to have all the TFs without creating a collector node or putting the two nodes together. Is it possible?

The question was posed here but the discussion is very old and I think that things changed from then.

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