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How to combine joint state publisher with urdf?

asked 2014-07-17 17:33:55 -0500

Kaddoura gravatar image

updated 2014-07-18 20:06:42 -0500

ahendrix gravatar image

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.

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answered 2014-07-17 18:09:05 -0500

ahendrix gravatar image

You also need to compile the C++ node you've written, and then launch the launch file, which will load your URDF onto the parameter server and run the robot_state_publisher and your node.

If you think the tutorial could be clearer about how to do this, feel free to update it with additional instructions.

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I should launch the launch file of the robot_state_publisher ? and how will this link to my urdf file ? (I have a package for the urdf and another for the robot_state_publisher)

Kaddoura gravatar image Kaddoura  ( 2014-07-18 13:35:33 -0500 )edit

The param tag in the launch file loads your URDF into the parameter server, and the robot_state_publisher and other nodes can use it from there.

ahendrix gravatar image ahendrix  ( 2014-07-18 20:07:36 -0500 )edit

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Asked: 2014-07-17 17:33:08 -0500

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Last updated: Jul 18 '14