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Joint_state_Publisher not popups

asked 2021-05-05 23:51:38 -0500

Dev Soni gravatar image

I have created this launch and urdf file when I launch the launch file joint_state_publisher 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 ...
(more)
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answered 2021-05-13 11:33:48 -0500

David Lu gravatar image

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>
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Asked: 2021-05-05 23:49:11 -0500

Seen: 29 times

Last updated: May 13