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Merge joint states from multiple sources [closed]

asked 2022-04-24 06:07:02 -0500

nihalar
11 ●4 ●5 ●6

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

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

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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 ( 2022-04-24 10:53:33 -0500 )edit

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answered 2022-04-24 07:00:34 -0500

rafRobot
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Hi,

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 !

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Asked: 2022-04-24 06:07:02 -0500

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Last updated: Apr 24 '22

Merge joint states from multiple sources [closed] edit

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