Joint_state_Publisher not popups
I have created this launch and urdf file when I launch the launch file jointstatepublisher not appears I am using ros noetic, I followed couple of threads but it was not worked for me.
<?xml version="1.0"?>
<robot name = "exoskeleton">
<link name = "base_link">
<visual>
<geometry>
<cylinder length="0.01" radius="0.15"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
</link>
<joint name = "base_to_torso_connector_1" type = "fixed">
<parent link = "base_link"/>
<child link = "base_to_torso"/>
<origin xyz="0 0 0.01" rpy="0 0 0"/>
</joint>
<link name = "base_to_torso">
<visual>
<geometry>
<cylinder length="0.7" radius="0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<material name="blue">
<color rgba="0 0 1 1"/>
</material>
</visual>
</link>
<joint name = "base_to_torso_connector_2" type = "fixed">
<parent link = "base_to_torso"/>
<child link = "torso_link"/>
<origin xyz="0 0 0.74" rpy="0 0 0"/>
</joint>
<link name = "torso_link">
<visual>
<geometry>
<cylinder length="0.48" radius="0.04"/>
</geometry>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
</link>
<joint name = "right_hip" type = "revolute">
<parent link = "torso_link"/>
<child link = "right_thigh"/>
<limit lower="-0.26" upper= "1.57" effort="1000" velocity="0.5"/>
<origin xyz="0 -0.28 0.02" rpy="0 0 0" />
<axis xyz="0 -1 0" />
</joint>
<link name = "right_thigh">
<visual>
<geometry>
<cylinder length="0.34" radius="0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 -0.17"/>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
</link>
<joint name = "right_knee_joint" type = "revolute">
<parent link = "right_thigh"/>
<child link = "right_shank"/>
<origin xyz="0 0 -0.34" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit lower="0.052" upper= "0.98" effort="1000" velocity="0.5"/>
</joint>
<link name = "right_shank">
<visual>
<geometry>
<cylinder length="0.28" radius="0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 -0.14"/>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
</link>
<joint name = "right_ankle_joint" type = "fixed">
<parent link = "right_shank"/>
<child link = "right_feet"/>
<!--limit lower="-0.52" upper= "0.35" effort="1000" velocity="0.5"/-->
<origin xyz="0 0 -0.28" rpy="0 0 0"/>
</joint>
<link name = "right_feet">
<visual>
<geometry>
<cylinder length="0.1" radius="0.04"/>
</geometry>
<origin rpy="0 -1.57 0" xyz="0.05 0 0"/>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
</link>
<!--left leg starts-->
<joint name = "left_hip" type = "revolute">
<parent link = "torso_link"/>
<child link = "left_thigh"/>
<limit lower="-0.26" upper= "0.58" effort="1000" velocity="0.5"/>
<origin xyz="0 0.28 0.02" rpy="0 0 0" />
<axis xyz="0 -1 0" />
</joint>
<link name = "left_thigh">
<visual>
<geometry>
<cylinder length="0.34" radius="0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 -0.17"/>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
</link>
<joint name = "left_knee_joint" type = "revolute">
<parent link = "left_thigh"/>
<child link = "left_shank"/>
<origin xyz="0 0 -0.34" rpy="0 0 0"/>
<axis xyz="0 1 0" />
<limit lower="0.052" upper= "0.98" effort="1000" velocity="0.5"/>
</joint>
<link name = "left_shank">
<visual>
<geometry>
<cylinder length="0.28" radius="0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 -0.14"/>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
</link>
<joint name = "left_ankle_joint" type = "fixed">
<parent link = "left_shank"/>
<child link = "left_feet"/>
<!--limit lower="-0.52" upper= "0.35" effort="1000" velocity="0.5"/-->
<origin xyz="0 0 -0.28" rpy="0 0 0"/>
</joint>
<link name = "left_feet">
<visual>
<geometry>
<cylinder length="0.1" radius="0.04"/>
</geometry>
<origin rpy="0 1.57 0" xyz="0.05 0 0"/>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
</link>
</robot>
<?xml version="1.0"?>
<launch>
<arg name="model" />
<param name="robot_description" textfile="$(find urdf)/exoskeleton.urdf"/>
<param name="use_gui" value="true"/>
<!--param name="use_gui" value="$(arg gui)"/-->
<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"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf)/view_demo_configuration.rviz"/>
</launch>
Asked by Dev Soni on 2021-05-05 23:49:11 UTC
Answers
The way joint state publisher works is different as of Noetic.
Change your launch file to instead read
<?xml version="1.0"?>
<launch>
<arg name="model" />
<param name="robot_description" textfile="$(find urdf)/exoskeleton.urdf"/>
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf)/view_demo_configuration.rviz"/>
</launch>
Asked by David Lu on 2021-05-13 11:33:48 UTC
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