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how to publish real robot-arm joint_states by ROS

asked 2016-10-27 02:08:35 -0500

yin gravatar image

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!

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answered 2016-10-27 02:52:23 -0500

gvdhoorn gravatar image

This looks like a duplicate of How to visualize a real robot in Rviz, but just to reiterate:

If you have a node that already publishes joint states for your real robot, then you don't need to start joint_state_publisher.

An instance of joint_state_publisher is only needed if:

  1. you don't have another node that publishes JointState messages and you want to fake them (use_gui:=true)
  2. you have multiple publishers of JointState messages and want to aggregate them (source_list:=[..])

[..] I don't know how to resolve the conflict between my own node and joint_state_publisher node [..]

Just don't start joint_state_publisher (but see the points above).

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Ok, that's it, just not start joint_state_publisher will ok, thank you!

yin gravatar image yin  ( 2016-10-27 03:06:54 -0500 )edit

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Asked: 2016-10-27 02:08:35 -0500

Seen: 702 times

Last updated: Oct 27 '16