MikeStrike's profile - activity

"Are they sending the same values?" -> no, data1 has values [ a b c d ] while a and b are always 0 (that's my problem). data2 has values [a b] with the desired values. But I still need c, d from data1. That is why not sending 1 doesn't work. And the first message is (automatically) published by the joint_state_publisher due to the joint properties("revolute") in the urdf model of the robot , isn't it? What I would want is that the 3D model (data1 [a b c d]) is listening to data2 [a b] and then sending out [a b c d] with the desired values for a and b. But How? Sorry for the question but I do not know how to fix it.

Hello,

I have a robot description (urdf file) where the joint state publisher is publishing for all the non-fixed joints a message. I have 4 such joints which are published on topic /joint_states. But 2 of this joints I want to control with a script publishing on a different topic -> /motor/states.
The problem is when I remap from motor/states to joint_states, then the joint state messages switch between this two:

header: 
  seq: 7270
  stamp: 
    secs: 1380880430
    nsecs: 894582033
  frame_id: ''
name: ['motor1', 'left_joint', 'right_joint', 'motor2']
position: [0.0, 0.0, 0.0, 0.0]
velocity: []
effort: []
---
header: 
  seq: 36366
  stamp: 
    secs: 1380880430
    nsecs: 900352954
  frame_id: ''
name: ['motor1', 'motor2']
position: [0.0, 0.0015339807878856412]
velocity: [0.0, 0.0]
effort: []

what I actually want is left_joint and right_joint from the above message but replace the motor1 motor2 in the first by those in the second message.

Thanks for helping!

ok thanks, now it (partly) works. The problem now is that 2 messages are published on joint_states where 1 is the zero position and the other one is the actually desired position. Now robot_state_publisher is jumping between this two states. How can I merge the two topics?

Hello,

I am building a turtlebot and have designed an URDF Model for that. The robot has a pan and tilt unit to move a camera which can be keyboard controlled with a script. After starting the script I remapped the /joint_states message to /ptu/status (puplished by script), in order to get an visualization of the camera movement in Rviz.

The joint_states message looks the following:

header: 
  seq: 279
  stamp: 
    secs: 1380799404
    nsecs: 76824903
  frame_id: ''
name: ['tilt', 'wheel_left', 'wheel_right', 'pan']
position: [0.0, 0.0, 0.0, 0.0]
velocity: []
effort: []

ptu/status looks like:

header: 
  seq: 11425
  stamp: 
    secs: 1380799470
    nsecs: 45985937
  frame_id: ''
name: ['pan', 'tilt']
position: [0.0, 0.1564660403643354]
velocity: [0.0, 0.0]
effort: []

The problem is that after the mapping I lose the message for wheel_left/right. How can I fix this problem?

Thanks for helping!