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Mixed publishers for robot_state_publisher?

asked 2011-03-20 08:03:44 -0500

dornhege gravatar image

Is it OK to have different publishers publish different parts of the joint_states topic to a robot_state_publisher node?

Consider I have a URDF with a base link B and two joints X and Y attached to that. Can I have a nodeX that publishes to joint_states and only provides a JointState with name "X" and position for X and a different nodeY that publishes only JointState for "Y"?

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answered 2011-03-23 04:33:28 -0500

Wim gravatar image

updated 2011-03-23 07:14:59 -0500

This is a new feature that will first get released in Electric. You can already give it a try by downloading the development version:

hg clone

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Thanks, I'll try it.
dornhege gravatar image dornhege  ( 2011-03-26 04:51:20 -0500 )edit

answered 2011-03-23 07:21:15 -0500

David Lu gravatar image

More exactly, robot_state_publisher in its current state will not allow you to use two different joint_states with partial information.

More information in this ROS-users discussion

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Asked: 2011-03-20 08:03:44 -0500

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Last updated: Mar 23 '11