Ask Your Question

how to subscirbe robot current states (joint/end effector position/velocity)

asked 2020-08-03 04:01:22 -0500

Ceciliaxu gravatar image

I am using ROS to control my UR. I am new in ROS. And I wonder how to subscirbe robot states (joint/end effector position/velocity)? I am using "kinematic_model->getGlobalLinkTransform("ee_link")" in my ros to get end effector's state, but results of two times are different. And I wonder if there are easier way to get this. The other question is how to publish a trajectory and control UR in ROS? Should I use moveit?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2020-08-03 16:18:18 -0500

updated 2020-08-03 16:19:07 -0500

joint_state_publisher can be used to publish states of the joints. See this link for details: (

The data being published can then be subscribed by the robot_state_publisher, which then uses this data and the robot description within the urdf file to compute forward kinematics and generate a transform for the entire robot. The following link may also be helpful to you. (

This is how these two nodes can be launched from within the launch file. <node 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" respawn="false" output="screen"> </node>

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2020-08-03 04:01:22 -0500

Seen: 95 times

Last updated: Aug 03 '20