Usage of joint_state_publisher
Hi everyone,
I am working with a new UR10e robot and a 2F-140 Robotiq Gripper. And the new models of UR robot comes with a set of script functions to control the gripper. The thing is that working this way to command the gripper, you have no information publish by /ur_driver into the robot_state_publisher topic. So I created a node in order to publish the finger_joint value into the robot_state. I know that i have to use joint_state_publisher to achieve this task but I do not know how I have to write the code into the launch file just to publish finger_joint state. I'm launching joint_state_publisher in the following way:
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen"/>
And ROS publishes all the joint states defined in my MoveIt *.srdf config.
Thanks in advance for your help.
If this is the case then you just need to run this node. The joint_state_publisher node is only a demo node to publish mock joint states while you're setting up a robot, it doesn't produce the actual joint states of real hardware
That's not entirely true: #q303358.
The thing is that when I run this node, it causes a conflict between the ur10e real joint states and the fake ones. What I want to do is use joint_state_publisher to publish only the gripper joint's states because the
/ur_drivedoesn't do it. So I write a node in order to get how much the gripper is open and I transform that into joint values. So what I need to do is to publish that joint values into/joint_statestopic. This way the/robot_state_publisherwill publish the joint state of the gripper. When I try to publish directly with the node I've writed It dumped the core. I read that to do this you have to usejoint_state_publisherin order to tell ROS in a fake way your joint state. But I only need to publish one of the joint states, not all the joint states ...(more)I stand corrected.