how to publish real robot-arm joint_states by ROS
Hello, I have a real six-dof robot arm and it's urdf model, the urdf model can display well in rviz. Now I want to publish robot's joint_states so the rviz can show out the real robot pose. But I find that joint_state_publisher node will also publish joint_states topic, and the node is need when visual urdf in rviz, so I don't know how to resolve the conflict between my own node and joint_state_publisher node, thanks for some tips!