# Set Joint state publisher offsets

Hi ,

I have a physical robot that can increase and decrease in size. Whenever i boot the robot from a different sizes the joint state publisher or /joint_states topic from ros control starts publishing with all the joint position as 0 from that particular start configuration. And when ever I boot the robot from different configuration the joint states has different zero position.

Is there any way that i can set offsets for each joints in joint_states , So that Robot state publisher has correct tf's.

Thanks

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Which node is publishing the /joint_states topic? If this is a driver node for the arm then there may be a bug in there that needs fixing. Can you link to the robot you're using.