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joint_state_publisher zeros param

asked 2014-12-06 12:43:48 -0500

Hi all, I have to set a default value in my launch file containing a joint_state_publisher. I saw in the documentation that there is a parameter "zeros" to do it but I can not figure how to use it. If I have two joints named "joint0" and "joint1" and my default value is 0.7 for both, how have I to write the launch file? Thanks

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If someone can point to me an example launch file I will check it, thanks.

Enrico gravatar image Enrico  ( 2014-12-09 08:51:32 -0500 )edit

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answered 2014-12-10 01:56:52 -0500

Adolfo Rodriguez T gravatar image

Specify the zeros dictionary at the root namespace, (I don't know why joint_state_publisher does not use the node's private one, but that's how it is). In yaml syntax, this should be (untested):

zeros:
  foo_joint: 1.0
  bar_joint: -1.0

If it doesn't work, ask the source.

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Thx Adolfo! I'll try and let you know!

Enrico gravatar image Enrico  ( 2014-12-10 04:57:54 -0500 )edit

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Asked: 2014-12-06 12:43:48 -0500

Seen: 206 times

Last updated: Dec 10 '14