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How to move an urdf model based on real joint_state?

asked 2013-10-13 05:07:20 -0600

Matz gravatar image

updated 2013-11-14 12:29:04 -0600

tfoote gravatar image

Hi all, how i have the model of a pan-tilt unit that i have wrote xml urdf file and imported in the parameter server, I'm able to see it in rviz but now I want to move it in function of the real position that I can read from the topic ptu/state that is in joint_state form.

I suppose that I need also the tf that robot_state_pubblisher can create but I don't know how to set it to read the correct topic because it create a tf topic but is void.

Thank you

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Hi, Did you get your aim? I have the same doubt.Could you help me? Thanks

deulogio gravatar image deulogio  ( 2014-03-21 01:49:14 -0600 )edit

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answered 2014-03-22 01:41:25 -0600

Matz gravatar image

updated 2014-03-22 01:42:37 -0600

yes, I merged all the joint_state messages of the various node into the input of the robot_state_pubblisher via remapping inside launch file

eg of the remap into launch file:

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" &gt;="" <rosparam="" param="source_list">[/ptu/state, joint_states, /motore_1_controller/joint_states, /motore_2_controller/joint_states, /motore_3_controller/joint_states, /motore_4_controller/joint_states]</rosparam> </node>

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answered 2014-03-21 08:51:42 -0600

tfoote gravatar image

You need to remap the output of ptu/state or the input of robot_state_publisher so that they connect.

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Asked: 2013-10-13 05:07:20 -0600

Seen: 470 times

Last updated: Mar 22 '14