the state_publisher executable is deprecated

edit

Hi@weasfas, Thanks a lot for reaching out to me, your suggestions worked pretty well for me. The Jsp gui is not visible.However, a few errors remain like below -

1.[ WARN] [1586448026.485747086]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead

2.[WARN] [1586448027.370277]: The 'use_gui' parameter was specified, which is deprecated. We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that. This backwards compatibility option will be removed in Noetic.

1. The logo of the GUI is a cross mark

and the tiff errors are not fatal and I can't do much about them as I can see now

Here's the launch file. I edited as you had suggested -

<launch>

<arg name="model" default="$(find urdf_tutorial)/urdf/01-myfirst.urdf"/> <arg name="gui" default="true"/> <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz"/>

<node if="$(arg gui)" name="jsp_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/> <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true"/>

</launch>

Hi @Weasfas,

The full launch file should be like this:

<launch>

    <arg name="model" default="$(find urdf_tutorial)/urdf/01-myfirst.urdf"/>
    <arg name="gui" default="true"/>
    <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz"/>

    <param name="robot_description" command="$(find xacro)/xacro $(arg model)" />

    <node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
    <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true"/>

</launch>

Please note the param line in which you load the robot_description in the ROS parameter server. You will need that to work properly with the JST and RST.