Ask Your Question
0

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.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
2

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.

edit flag offensive delete link more

Comments

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

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

Seen: 1,853 times

Last updated: Jul 18 '14