ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

Merge joint states from multiple sources [closed]

asked 2022-04-24 06:07:02 -0600

nihalar gravatar image

Hello All,

I have the following setup: A UR5 robot and two maxon motors combine to form a robot. The robot, and the two maxon motors publish their current states on different topics. I need to merge all these topics and publish to /joint_states so that robot state publisher and moveit can consume it. How would I do this?

Thank You, Nihal

edit retag flag offensive reopen merge delete

Closed for the following reason duplicate question by gvdhoorn
close date 2022-04-24 10:50:51.954619


I've closed this as a duplicate of #q31956. While the mentioned HW is (obviously) different, the problem stated is the same, and the solution is usable here as well.

There is no need to create a custom node for this.

gvdhoorn gravatar image gvdhoorn  ( 2022-04-24 10:53:33 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2022-04-24 07:00:34 -0600

rafRobot gravatar image


A simple idea would be to create a node that subscribe to all of those topics. Then this new node would merge them in a new sensor_msgs/JointState message that can be afterward published on the topic /joint_states !

Hope it helps !

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2022-04-24 06:07:02 -0600

Seen: 72 times

Last updated: Apr 24