How to combine joint state publisher with urdf?
I have gone through this tutorial: Using urdf with robot_state_publisher I wrote my urdf file (for a right arm with fingers) and launched it and it worked and I was able to change everything using the gui. Then I wrote a state_publisher.cpp the same way as the tutorial and a launch file. Now I want everything to work together but I don't know how. In the tutorial it only says that I should run rviz.