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Joint_State_Publisher not publishing messages from rostopic that was added to source_lists

asked 2019-01-10 19:04:38 -0600

avnishn gravatar image

Hi All,

I am having an issue when using the joint_state_publisher.

My use case is the following: I am trying to use the joint_state_publisher node and robot_state_publisher node to allow me to adjust the joint angles of a 2 link manipulator in RVIZ.

I have added the topic, we'll call it j_pub, which I am publishing JointState messages on to the source_lists parameter of the joint_state publisher, and I have verified using tools such as rostopic info, rosnode info, and rostopic echo, that the joint_state_publisher is subscribed to j_pub, and that my rosnode is publishing JointState messages to j_pub. Despite this, the joint_state_publisher is still outputting/publishing JointState messages to joint_State that are the default joint angle (all joint angles are 0.0 in the message).

I am not sure what my bug is here, and could use help from the community, Cheers

ps: I am using Ros Melodic, on ubuntu 18.04

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answered 2019-01-10 21:41:51 -0600

avnishn gravatar image

Update:

The answer to this question actually had to do with the names of the joints of my robot. the names of my joints were "link_0__link_1" and "link_1__link_2". I changed them to "joint1" and "joint2" respectively, and this fixed my problem. I suspect that the issue is related to the '_' character, and however it is encoded in the JointState message

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Asked: 2019-01-10 19:03:53 -0600

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Last updated: Jan 10 '19