How to update robot_state of moveit move_group

Hi,

I want to update the moveit move_group robot state because it does not get updated automatically. I either want to fix that or set it manually.

As I understood it, the robot state should be updated automatically when the setup is correct. I have set up my robot with the setupassistant and the movegroup node subscribes to the jointstates topic. The joint names published and known to the movegroup node are the same. Do I need to set up something special?

When I run my setup and move the robot, the current robotstate does not change. However, the jointstates do reflect the correct state and in RViz it is visualized.

Any help appreciated!

EDIT:

This is my MoveIt setup: rosgraph from rqt_graph

EDIT2:

My moveit setup had no error, I had an error reading the robot_state :/

Asked by Marcel Usai on 2017-08-21 11:55:56 UTC

Comments

Please add a screenshot/png version of what your rqt_graph looks like while you have your MoveIt launch files running.

This sounds like MoveIt is subscribing to your JointState publisher, but isn't receiving any msgs.

Asked by gvdhoorn on 2017-08-21 14:19:58 UTC

Thank you for your help! I updated my post with the rqt_graph screenshot.

Asked by Marcel Usai on 2017-08-22 03:50:42 UTC

I don't know what your Edit2 means exactly, but in any case: please post your solution as an answer and accept that. We don't close questions like that here on ROS Answers if at all possible.

Asked by gvdhoorn on 2017-08-30 03:04:43 UTC

It means, the robot state is set fine, there never was an issue. Why shouldn't someone close his question since it is not relevant if there was no error?

Asked by Marcel Usai on 2017-08-30 07:53:42 UTC

There was a question, otherwise you wouldn't have posted one.

It's always better to post answers - even if they appear trivial to you - and then accept your own answer as that will show clearly that the question was answered. Future readers can then immediately see what is going on.

Asked by gvdhoorn on 2017-08-30 07:56:19 UTC

If you've figured out that updating the robot state was not an issue, but something else was, then it would be good to post that as the answer. Some future reader might observe the same things as you did (not updating of robot) and your answer could help them rule some things out.

Asked by gvdhoorn on 2017-08-30 07:57:52 UTC

I cannot reopen my question with <200 points, so I guess it can't be helped.

Asked by Marcel Usai on 2017-08-30 08:01:19 UTC

I understand this. But my fault was not reading the robot state correctly (wrong indexing). There was no error with anything related to the setup. Can you reopen my question? I could answer it then.

Asked by Marcel Usai on 2017-08-30 08:05:30 UTC

I've re-opened it.

But my fault was not reading the robot state correctly (wrong indexing).

and that would be a perfect answer :) if you add some more detail.

Asked by gvdhoorn on 2017-08-30 09:44:58 UTC