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joint state publisher wont stop publishing

asked 2019-03-05 16:08:48 -0500

dr.octa gravatar image

so i have build my own robot model and now im going to move it. i made a simple code just to make sure i know how to move the joints, it works and all but because the joint state publisher keeps publishing the initial position (or whatever position it is set to) it keep resetting , so i want to make the state publisher stop

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answered 2019-03-06 01:26:16 -0500

gvdhoorn gravatar image

so i want to make the state publisher stop

Do you still actually need the joint_state_publisher?

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probably , im planning to make a machine learning to plan the best motion to make it walk , but im still don't know if i will need it again in the process

dr.octa gravatar image dr.octa  ( 2019-03-06 13:53:09 -0500 )edit

What I meant to say was: what sort of nodes do you have already? If you have a driver for your robot that already publishes JointState messages and accepts commands (such as FollowJointTrajectory or similar), you don't actually need joint_state_publisher any more, unless you have ..

gvdhoorn gravatar image gvdhoorn  ( 2019-03-06 13:58:55 -0500 )edit

.. multiple JointState publishers and want to use JSP to publish an aggregate state.

If you can describe your current setup in a bit more detail, perhaps we can see whether you still need JSP.

From your description I have a feeling you are using JointState to command state, which is not ..

gvdhoorn gravatar image gvdhoorn  ( 2019-03-06 13:59:32 -0500 )edit

.. really what is was meant for.

gvdhoorn gravatar image gvdhoorn  ( 2019-03-06 14:00:06 -0500 )edit

thanks to your comments i realized i can just edit the display.launch and stop the node from starting in the first place. anyways, im doing a hexapod robot , i have build the urdf model , and made a node that publishes the joint states to \joint_state topic, im planning to make a machine learning code that will make the model learn how to walk on it's own without me planning the motion but i still don't know how so i just make what i can and go learn a new thing

dr.octa gravatar image dr.octa  ( 2019-03-07 13:58:33 -0500 )edit

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Asked: 2019-03-05 16:08:48 -0500

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Last updated: Mar 06 '19