Package Summary

Tags No category tags.
Version 2.4.0
License BSD
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/joint_state_publisher.git
VCS Type git
VCS Version ros2
Last Updated 2023-08-21
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay

Joint State Publisher

This contains a package for publishing sensor_msgs/msg/JointState messages for a robot described with URDF. Given a URDF (either passed on the command-line or via the /robot_description topic), this node will continually publish values for all of the movable joints in the URDF to the /joint_states topic. In combination with robot_state_publisher, this ensures that there is a valid transform for all joints even when the joint doesn't have encoder data.

Published Topics

  • /joint_states (sensor_msgs/msg/JointState) - The state of all of the movable joints in the system.

Subscribed Topics

  • (optional) /robot_description (std_msgs/msg/String) - If no URDF is given on the command-line, then this node will listen on the /robot_description topic for the URDF to be published. Once it has been received at least once, this node will start to publish joint values to /joint_states.
  • (optional) /any_topic (sensor_msgs/msg/JointState) - If the sources_list parameter is not empty (see Parameters below), then every named topic in this parameter will be subscribed to for joint state updates. Do not add the default /joint_states topic to this list, as it will end up in an endless loop!

Parameters

  • rate (int) - The rate at which to publish updates to the /joint_states topic. Defaults to 10.
  • publish_default_positions (bool) - Whether to publish a default position for each movable joint to the /joint_states topic. Defaults to True.
  • publish_default_velocities (bool) - Whether to publish a default velocity for each movable joint to the /joint_states topic. Defaults to False.
  • publish_default_efforts (bool) - Whether to publish a default effort for each movable joint to the /joint_states topic. Defaults to False.
  • use_mimic_tags (bool) - Whether to honor <mimic> tags in the URDF. Defaults to True.
  • use_smallest_joint_limits (bool) - Whether to honor <safety_controller> tags in the URDF. Defaults to True.
  • source_list (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type sensor_msgs/msg/JointStates. Publication to that topic will update the joints named in the message. Defaults to an empty array.
  • delta (double) - How much to automatically move joints during each iteration. Defaults to 0.0.

Mapped Parameters

These parameters map from joint_names to values. The format to use these parameters is <parameter>.<key>:=<value>, where a new parameter is defined for each key. See below for examples.

  • zeros (map from string -> float) - A map of joint_names to initial starting values for the joint. For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param zeros.joint_name1:=value1 --param zeros.joint_name2:=value2. This parameter is not set by default, so all joints start at zero. For joints where zero isn't within the joint range, it uses the range's (max + min) / 2.
  • dependent_joints (map from string -> map from 'parent', 'factor', 'offset' -> float) - A map of joint_names to the joints that they mimic; compare to the <mimic> tag in URDF. A joint listed here will mimic the movements of the 'parent' joint, subject to the 'factor' and 'offset' provided. The 'parent' name must be provided, while the 'factor' and 'offset' parameters are optional (they default to 1.0 and 0.0, respectively). For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param dependent_joints.left_leg.parent:=right_leg --param dependent_joints.left_leg.offset:=0.0 --param dependent_joints.left_leg.factor:=2.0. This parameter is not set by default, in which case only joints that are marked as <mimic> in the URDF are mimiced.
CHANGELOG

Changelog for package joint_state_publisher

2.4.0 (2023-08-04)

  • Support for sdformat robot descriptions (#55)
  • Refactor urdf parser function (#94)
  • Gracefully handle SIGINT (#86)
  • Contributors: Dharini Dutia, Shane Loretz, Will

2.3.0 (2022-04-21)

  • Use underscores in setup.cfg. (#76)
  • Fix the mimic_cycle test to always succeed. (#74)
  • Remove deprecated policy warning (#67)
  • Clarify docs on \'mapped parameters\' in README (#66) (#71) * Clarify docs on \'mapped parameters\' in README Co-authored-by: Binit Shah <bshah@hello-robot.com>

  • Contributors: Binit Shah, Chris Lalancette

2.2.0 (2020-06-04)

  • Minor fixes from review.
  • Add in pytest.ini files for jsp and jsp_gui.
  • Stop using deprecated launch parameters in Foxy.
  • Contributors: Chris Lalancette

2.1.0 (2020-05-19)

2.0.0 (2020-03-10)

  • Port to ROS 2 (#30)
  • Remove the deprecated fallback option of use_gui (#34)
  • Split jsp and jsp gui (#31)
  • Only update one joint slider on value changed. (#11)
  • ignore \'planar\' joints just as \'fixed\' and \'floating\' (#14)
  • Make GUI window scroll & resize for large robots (#10)
  • Contributors: Andy McEvoy, Chris Lalancette, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

Name Repo Deps
joint_state_publisher_gui github-ros-joint_state_publisher
leo_viz github-LeoRover-leo_desktop-ros2
mir_description github-DFKI-NI-mir_robot
mir_gazebo github-DFKI-NI-mir_robot
moveit_resources_prbt_moveit_config github-ros-planning-moveit2
dual_arm_panda_moveit_config github-ros-planning-moveit_resources
moveit_resources_fanuc_moveit_config github-ros-planning-moveit_resources
moveit_resources github-ros-planning-moveit_resources
moveit_resources_panda_moveit_config github-ros-planning-moveit_resources
raspimouse_description github-rt-net-raspimouse_description
ur_bringup github-UniversalRobots-Universal_Robots_ROS2_Driver
ur_robot_driver github-UniversalRobots-Universal_Robots_ROS2_Driver
open_manipulator_x_description github-dynamixel-community-dynamixel_hardware
pantilt_bot_description github-dynamixel-community-dynamixel_hardware
raspimouse_slam github-rt-net-raspimouse_slam_navigation_ros2
panda_arm_1_moveit_config github-robosoft-ai-SMACC2
panda_arm_2_moveit_config github-robosoft-ai-SMACC2
turtlebot3_manipulation_description github-ROBOTIS-GIT-turtlebot3_manipulation
turtlebot3_manipulation_moveit_config github-ROBOTIS-GIT-turtlebot3_manipulation
urdf_launch github-ros-urdf_launch
irobot_create_common_bringup github-iRobotEducation-create3_sim
turtlebot4_description github-turtlebot-turtlebot4
gazebo_set_joint_positions_plugin github-Boeing-gazebo_set_joint_positions_plugin
reach_ros github-ros-industrial-reach_ros2
kortex_bringup github-Kinovarobotics-ros2_kortex
kortex_description github-Kinovarobotics-ros2_kortex
kinova_gen3_6dof_robotiq_2f_85_moveit_config github-Kinovarobotics-ros2_kortex
kinova_gen3_7dof_robotiq_2f_85_moveit_config github-Kinovarobotics-ros2_kortex

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joint_state_publisher at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.4.0
License BSD
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/joint_state_publisher.git
VCS Type git
VCS Version ros2
Last Updated 2023-08-21
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay

Joint State Publisher

This contains a package for publishing sensor_msgs/msg/JointState messages for a robot described with URDF. Given a URDF (either passed on the command-line or via the /robot_description topic), this node will continually publish values for all of the movable joints in the URDF to the /joint_states topic. In combination with robot_state_publisher, this ensures that there is a valid transform for all joints even when the joint doesn't have encoder data.

Published Topics

  • /joint_states (sensor_msgs/msg/JointState) - The state of all of the movable joints in the system.

Subscribed Topics

  • (optional) /robot_description (std_msgs/msg/String) - If no URDF is given on the command-line, then this node will listen on the /robot_description topic for the URDF to be published. Once it has been received at least once, this node will start to publish joint values to /joint_states.
  • (optional) /any_topic (sensor_msgs/msg/JointState) - If the sources_list parameter is not empty (see Parameters below), then every named topic in this parameter will be subscribed to for joint state updates. Do not add the default /joint_states topic to this list, as it will end up in an endless loop!

Parameters

  • rate (int) - The rate at which to publish updates to the /joint_states topic. Defaults to 10.
  • publish_default_positions (bool) - Whether to publish a default position for each movable joint to the /joint_states topic. Defaults to True.
  • publish_default_velocities (bool) - Whether to publish a default velocity for each movable joint to the /joint_states topic. Defaults to False.
  • publish_default_efforts (bool) - Whether to publish a default effort for each movable joint to the /joint_states topic. Defaults to False.
  • use_mimic_tags (bool) - Whether to honor <mimic> tags in the URDF. Defaults to True.
  • use_smallest_joint_limits (bool) - Whether to honor <safety_controller> tags in the URDF. Defaults to True.
  • source_list (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type sensor_msgs/msg/JointStates. Publication to that topic will update the joints named in the message. Defaults to an empty array.
  • delta (double) - How much to automatically move joints during each iteration. Defaults to 0.0.

Mapped Parameters

These parameters map from joint_names to values. The format to use these parameters is <parameter>.<key>:=<value>, where a new parameter is defined for each key. See below for examples.

  • zeros (map from string -> float) - A map of joint_names to initial starting values for the joint. For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param zeros.joint_name1:=value1 --param zeros.joint_name2:=value2. This parameter is not set by default, so all joints start at zero. For joints where zero isn't within the joint range, it uses the range's (max + min) / 2.
  • dependent_joints (map from string -> map from 'parent', 'factor', 'offset' -> float) - A map of joint_names to the joints that they mimic; compare to the <mimic> tag in URDF. A joint listed here will mimic the movements of the 'parent' joint, subject to the 'factor' and 'offset' provided. The 'parent' name must be provided, while the 'factor' and 'offset' parameters are optional (they default to 1.0 and 0.0, respectively). For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param dependent_joints.left_leg.parent:=right_leg --param dependent_joints.left_leg.offset:=0.0 --param dependent_joints.left_leg.factor:=2.0. This parameter is not set by default, in which case only joints that are marked as <mimic> in the URDF are mimiced.
CHANGELOG

Changelog for package joint_state_publisher

2.4.0 (2023-08-04)

  • Support for sdformat robot descriptions (#55)
  • Refactor urdf parser function (#94)
  • Gracefully handle SIGINT (#86)
  • Contributors: Dharini Dutia, Shane Loretz, Will

2.3.0 (2022-04-21)

  • Use underscores in setup.cfg. (#76)
  • Fix the mimic_cycle test to always succeed. (#74)
  • Remove deprecated policy warning (#67)
  • Clarify docs on \'mapped parameters\' in README (#66) (#71) * Clarify docs on \'mapped parameters\' in README Co-authored-by: Binit Shah <bshah@hello-robot.com>

  • Contributors: Binit Shah, Chris Lalancette

2.2.0 (2020-06-04)

  • Minor fixes from review.
  • Add in pytest.ini files for jsp and jsp_gui.
  • Stop using deprecated launch parameters in Foxy.
  • Contributors: Chris Lalancette

2.1.0 (2020-05-19)

2.0.0 (2020-03-10)

  • Port to ROS 2 (#30)
  • Remove the deprecated fallback option of use_gui (#34)
  • Split jsp and jsp gui (#31)
  • Only update one joint slider on value changed. (#11)
  • ignore \'planar\' joints just as \'fixed\' and \'floating\' (#14)
  • Make GUI window scroll & resize for large robots (#10)
  • Contributors: Andy McEvoy, Chris Lalancette, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joint_state_publisher at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.4.0
License BSD
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/joint_state_publisher.git
VCS Type git
VCS Version ros2
Last Updated 2023-08-21
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay

Joint State Publisher

This contains a package for publishing sensor_msgs/msg/JointState messages for a robot described with URDF. Given a URDF (either passed on the command-line or via the /robot_description topic), this node will continually publish values for all of the movable joints in the URDF to the /joint_states topic. In combination with robot_state_publisher, this ensures that there is a valid transform for all joints even when the joint doesn't have encoder data.

Published Topics

  • /joint_states (sensor_msgs/msg/JointState) - The state of all of the movable joints in the system.

Subscribed Topics

  • (optional) /robot_description (std_msgs/msg/String) - If no URDF is given on the command-line, then this node will listen on the /robot_description topic for the URDF to be published. Once it has been received at least once, this node will start to publish joint values to /joint_states.
  • (optional) /any_topic (sensor_msgs/msg/JointState) - If the sources_list parameter is not empty (see Parameters below), then every named topic in this parameter will be subscribed to for joint state updates. Do not add the default /joint_states topic to this list, as it will end up in an endless loop!

Parameters

  • rate (int) - The rate at which to publish updates to the /joint_states topic. Defaults to 10.
  • publish_default_positions (bool) - Whether to publish a default position for each movable joint to the /joint_states topic. Defaults to True.
  • publish_default_velocities (bool) - Whether to publish a default velocity for each movable joint to the /joint_states topic. Defaults to False.
  • publish_default_efforts (bool) - Whether to publish a default effort for each movable joint to the /joint_states topic. Defaults to False.
  • use_mimic_tags (bool) - Whether to honor <mimic> tags in the URDF. Defaults to True.
  • use_smallest_joint_limits (bool) - Whether to honor <safety_controller> tags in the URDF. Defaults to True.
  • source_list (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type sensor_msgs/msg/JointStates. Publication to that topic will update the joints named in the message. Defaults to an empty array.
  • delta (double) - How much to automatically move joints during each iteration. Defaults to 0.0.

Mapped Parameters

These parameters map from joint_names to values. The format to use these parameters is <parameter>.<key>:=<value>, where a new parameter is defined for each key. See below for examples.

  • zeros (map from string -> float) - A map of joint_names to initial starting values for the joint. For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param zeros.joint_name1:=value1 --param zeros.joint_name2:=value2. This parameter is not set by default, so all joints start at zero. For joints where zero isn't within the joint range, it uses the range's (max + min) / 2.
  • dependent_joints (map from string -> map from 'parent', 'factor', 'offset' -> float) - A map of joint_names to the joints that they mimic; compare to the <mimic> tag in URDF. A joint listed here will mimic the movements of the 'parent' joint, subject to the 'factor' and 'offset' provided. The 'parent' name must be provided, while the 'factor' and 'offset' parameters are optional (they default to 1.0 and 0.0, respectively). For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param dependent_joints.left_leg.parent:=right_leg --param dependent_joints.left_leg.offset:=0.0 --param dependent_joints.left_leg.factor:=2.0. This parameter is not set by default, in which case only joints that are marked as <mimic> in the URDF are mimiced.
CHANGELOG

Changelog for package joint_state_publisher

2.4.0 (2023-08-04)

  • Support for sdformat robot descriptions (#55)
  • Refactor urdf parser function (#94)
  • Gracefully handle SIGINT (#86)
  • Contributors: Dharini Dutia, Shane Loretz, Will

2.3.0 (2022-04-21)

  • Use underscores in setup.cfg. (#76)
  • Fix the mimic_cycle test to always succeed. (#74)
  • Remove deprecated policy warning (#67)
  • Clarify docs on \'mapped parameters\' in README (#66) (#71) * Clarify docs on \'mapped parameters\' in README Co-authored-by: Binit Shah <bshah@hello-robot.com>

  • Contributors: Binit Shah, Chris Lalancette

2.2.0 (2020-06-04)

  • Minor fixes from review.
  • Add in pytest.ini files for jsp and jsp_gui.
  • Stop using deprecated launch parameters in Foxy.
  • Contributors: Chris Lalancette

2.1.0 (2020-05-19)

2.0.0 (2020-03-10)

  • Port to ROS 2 (#30)
  • Remove the deprecated fallback option of use_gui (#34)
  • Split jsp and jsp gui (#31)
  • Only update one joint slider on value changed. (#11)
  • ignore \'planar\' joints just as \'fixed\' and \'floating\' (#14)
  • Make GUI window scroll & resize for large robots (#10)
  • Contributors: Andy McEvoy, Chris Lalancette, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joint_state_publisher at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.15.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/joint_state_publisher.git
VCS Type git
VCS Version noetic-devel
Last Updated 2023-05-04
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay

Joint State Publisher

This contains a package for publishing sensor_msgs/JointState messages for a robot described with URDF. Given a URDF in the robot_description parameter on the parameter server, this node will continually publish default values for all of the movable joints in the URDF to the /joint_states topic.

See the ROS wiki for additional API documentation and tutorials.

This was originally part of the ros/robot_model repository. It has been moved to this repo as described by ros/robot_model#195

Published Topics

  • /joint_states (sensor_msgs/JointState) - The state of all of the movable joints in the system.

Subscribed Topics

  • (optional) /any_topic (sensor_msgs/JointState) - If the sources_list parameter is not empty (see Parameters below), then every named topic in this parameter will be subscribed to for joint state updates. Do not add the default /joint_states topic to this list, as it will end up in an endless loop!

Parameters

  • robot_description (string, required) - A URDF or DAE file describing the robot.
  • rate (int) - The rate at which to publish updates to the /joint_states topic. Defaults to 10.
  • publish_default_positions (bool) - Whether to publish a default position for each movable joint to the /joint_states topic. Defaults to True.
  • publish_default_velocities (bool) - Whether to publish a default velocity for each movable joint to the /joint_states topic. Defaults to False.
  • publish_default_efforts (bool) - Whether to publish a default effort for each movable joint to the /joint_states topic. Defaults to False.
  • use_mimic_tags (bool) - Whether to honor <mimic> tags in the URDF. Defaults to True.
  • use_smallest_joint_limits (bool) - Whether to honor <safety_controller> tags in the URDF. Defaults to True.
  • source_list (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type sensor_msgs/JointStates. Publication to that topic will update the joints named in the message. Defaults to an empty array.
  • zeros (dictionary of string -> float) - A dictionary of joint_names to initial starting values for the joint. Defaults to an empty dictionary, in which case 0.0 is assumed as the zero for all joints.
  • dependent_joints (dictionary of string -> dictionary of 'parent', 'factor', 'offset') - A dictionary of joint_names to the joints that they mimic; compare to the <mimic> tag in URDF. A joint listed here will mimic the movements of the 'parent' joint, subject to the 'factor' and 'offset' provided. The 'parent' name must be provided, while the 'factor' and 'offset' parameters are optional (they default to 1.0 and 0.0, respectively). Defaults to the empty dictionary, in which case only joints that are marked as <mimic> in the URDF are mimiced.
CHANGELOG

Changelog for package joint_state_publisher

1.15.1 (2022-02-17)

  • The jsp can now use the zeros parameter when joint names have slashes. (#60)
  • Removed reference to removed use_gui parameter (#69)
  • Use setuptools instead of distutils (#45)
  • Contributors: Lucas Walter, Matthew Elwin, Shane Loretz

1.15.0 (2020-03-12)

  • Bump CMake version to avoid CMP0048 (#44)
  • Set source_update_cb attr before creating subscribers (#43)
  • Make it clear robot_description is required. (#39)
  • Remove the deprecated fallback option of use_gui (#34)
  • Split jsp and jsp gui (#31)
  • Only update one joint slider on value changed. (#11)
  • ignore \'planar\' joints just as \'fixed\' and \'floating\' (#14)
  • Make GUI window scroll & resize for large robots (#10)
  • Contributors: Andy McEvoy, Chris Lalancette, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Name Repo Deps
cob_obstacle_distance github-4am-robotics-cob_control
cob_moveit_bringup github-ipa320-cob_manipulation
cob_bringup github-ipa320-cob_robots
cob_hardware_config github-ipa320-cob_robots
cob_gazebo_worlds github-ipa320-cob_simulation
crane_x7_moveit_config github-rt-net-crane_x7_ros
fetch_moveit_config github-fetchrobotics-fetch_ros
franka_control github-frankaemika-franka_ros
husky_viz github-husky-husky
jackal_viz github-jackal-jackal_desktop
joint_state_publisher_gui github-ros-joint_state_publisher
jsk_rviz_plugins github-jsk-ros-pkg-jsk_visualization
khi_duaro_moveit_config github-Kawasaki-Robotics-khi_robot
khi_rs007l_moveit_config github-Kawasaki-Robotics-khi_robot
khi_rs007n_moveit_config github-Kawasaki-Robotics-khi_robot
khi_rs013n_moveit_config github-Kawasaki-Robotics-khi_robot
khi_rs020n_moveit_config github-Kawasaki-Robotics-khi_robot
khi_rs025n_moveit_config github-Kawasaki-Robotics-khi_robot
khi_rs030n_moveit_config github-Kawasaki-Robotics-khi_robot
khi_rs080n_moveit_config github-Kawasaki-Robotics-khi_robot
leo_viz github-LeoRover-leo_desktop
robot github-ros-metapackages
mir_description github-DFKI-NI-mir_robot
mir_gazebo github-DFKI-NI-mir_robot
moveit_resources_dual_panda_moveit_config github-ros-planning-moveit_resources
moveit_resources_fanuc_moveit_config github-ros-planning-moveit_resources
moveit_resources github-ros-planning-moveit_resources
moveit_resources_panda_moveit_config github-ros-planning-moveit_resources
moveit_resources_prbt_moveit_config github-ros-planning-moveit_resources
panda_moveit_config github-ros-planning-panda_moveit_config
prbt_moveit_config github-PilzDE-pilz_robots
prbt_support github-PilzDE-pilz_robots
pincher_arm_moveit_config github-fictionlab-pincher_arm
raspimouse_description github-rt-net-raspimouse_description
ridgeback_viz github-ridgeback-ridgeback_desktop
robotont_description github-robotont-robotont_description
schunk_svh_driver github-SCHUNK-GmbH-Co-KG-schunk_svh_ros_driver
sciurus17_moveit_config github-rt-net-sciurus17_ros
turtlebot3_bringup github-ROBOTIS-GIT-turtlebot3
ur10_moveit_config github-ros-industrial-universal_robot
ur10e_moveit_config github-ros-industrial-universal_robot
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Package Summary

Tags No category tags.
Version 2.4.0
License BSD
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/joint_state_publisher.git
VCS Type git
VCS Version ros2
Last Updated 2023-08-21
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay

Joint State Publisher

This contains a package for publishing sensor_msgs/msg/JointState messages for a robot described with URDF. Given a URDF (either passed on the command-line or via the /robot_description topic), this node will continually publish values for all of the movable joints in the URDF to the /joint_states topic. In combination with robot_state_publisher, this ensures that there is a valid transform for all joints even when the joint doesn't have encoder data.

Published Topics

  • /joint_states (sensor_msgs/msg/JointState) - The state of all of the movable joints in the system.

Subscribed Topics

  • (optional) /robot_description (std_msgs/msg/String) - If no URDF is given on the command-line, then this node will listen on the /robot_description topic for the URDF to be published. Once it has been received at least once, this node will start to publish joint values to /joint_states.
  • (optional) /any_topic (sensor_msgs/msg/JointState) - If the sources_list parameter is not empty (see Parameters below), then every named topic in this parameter will be subscribed to for joint state updates. Do not add the default /joint_states topic to this list, as it will end up in an endless loop!

Parameters

  • rate (int) - The rate at which to publish updates to the /joint_states topic. Defaults to 10.
  • publish_default_positions (bool) - Whether to publish a default position for each movable joint to the /joint_states topic. Defaults to True.
  • publish_default_velocities (bool) - Whether to publish a default velocity for each movable joint to the /joint_states topic. Defaults to False.
  • publish_default_efforts (bool) - Whether to publish a default effort for each movable joint to the /joint_states topic. Defaults to False.
  • use_mimic_tags (bool) - Whether to honor <mimic> tags in the URDF. Defaults to True.
  • use_smallest_joint_limits (bool) - Whether to honor <safety_controller> tags in the URDF. Defaults to True.
  • source_list (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type sensor_msgs/msg/JointStates. Publication to that topic will update the joints named in the message. Defaults to an empty array.
  • delta (double) - How much to automatically move joints during each iteration. Defaults to 0.0.

Mapped Parameters

These parameters map from joint_names to values. The format to use these parameters is <parameter>.<key>:=<value>, where a new parameter is defined for each key. See below for examples.

  • zeros (map from string -> float) - A map of joint_names to initial starting values for the joint. For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param zeros.joint_name1:=value1 --param zeros.joint_name2:=value2. This parameter is not set by default, so all joints start at zero. For joints where zero isn't within the joint range, it uses the range's (max + min) / 2.
  • dependent_joints (map from string -> map from 'parent', 'factor', 'offset' -> float) - A map of joint_names to the joints that they mimic; compare to the <mimic> tag in URDF. A joint listed here will mimic the movements of the 'parent' joint, subject to the 'factor' and 'offset' provided. The 'parent' name must be provided, while the 'factor' and 'offset' parameters are optional (they default to 1.0 and 0.0, respectively). For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param dependent_joints.left_leg.parent:=right_leg --param dependent_joints.left_leg.offset:=0.0 --param dependent_joints.left_leg.factor:=2.0. This parameter is not set by default, in which case only joints that are marked as <mimic> in the URDF are mimiced.
CHANGELOG

Changelog for package joint_state_publisher

2.4.0 (2023-08-04)

  • Support for sdformat robot descriptions (#55)
  • Refactor urdf parser function (#94)
  • Gracefully handle SIGINT (#86)
  • Contributors: Dharini Dutia, Shane Loretz, Will

2.3.0 (2022-04-21)

  • Use underscores in setup.cfg. (#76)
  • Fix the mimic_cycle test to always succeed. (#74)
  • Remove deprecated policy warning (#67)
  • Clarify docs on \'mapped parameters\' in README (#66) (#71) * Clarify docs on \'mapped parameters\' in README Co-authored-by: Binit Shah <bshah@hello-robot.com>

  • Contributors: Binit Shah, Chris Lalancette

2.2.0 (2020-06-04)

  • Minor fixes from review.
  • Add in pytest.ini files for jsp and jsp_gui.
  • Stop using deprecated launch parameters in Foxy.
  • Contributors: Chris Lalancette

2.1.0 (2020-05-19)

2.0.0 (2020-03-10)

  • Port to ROS 2 (#30)
  • Remove the deprecated fallback option of use_gui (#34)
  • Split jsp and jsp gui (#31)
  • Only update one joint slider on value changed. (#11)
  • ignore \'planar\' joints just as \'fixed\' and \'floating\' (#14)
  • Make GUI window scroll & resize for large robots (#10)
  • Contributors: Andy McEvoy, Chris Lalancette, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joint_state_publisher at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.4.0
License BSD
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/joint_state_publisher.git
VCS Type git
VCS Version ros2
Last Updated 2023-08-21
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay

Joint State Publisher

This contains a package for publishing sensor_msgs/msg/JointState messages for a robot described with URDF. Given a URDF (either passed on the command-line or via the /robot_description topic), this node will continually publish values for all of the movable joints in the URDF to the /joint_states topic. In combination with robot_state_publisher, this ensures that there is a valid transform for all joints even when the joint doesn't have encoder data.

Published Topics

  • /joint_states (sensor_msgs/msg/JointState) - The state of all of the movable joints in the system.

Subscribed Topics

  • (optional) /robot_description (std_msgs/msg/String) - If no URDF is given on the command-line, then this node will listen on the /robot_description topic for the URDF to be published. Once it has been received at least once, this node will start to publish joint values to /joint_states.
  • (optional) /any_topic (sensor_msgs/msg/JointState) - If the sources_list parameter is not empty (see Parameters below), then every named topic in this parameter will be subscribed to for joint state updates. Do not add the default /joint_states topic to this list, as it will end up in an endless loop!

Parameters

  • rate (int) - The rate at which to publish updates to the /joint_states topic. Defaults to 10.
  • publish_default_positions (bool) - Whether to publish a default position for each movable joint to the /joint_states topic. Defaults to True.
  • publish_default_velocities (bool) - Whether to publish a default velocity for each movable joint to the /joint_states topic. Defaults to False.
  • publish_default_efforts (bool) - Whether to publish a default effort for each movable joint to the /joint_states topic. Defaults to False.
  • use_mimic_tags (bool) - Whether to honor <mimic> tags in the URDF. Defaults to True.
  • use_smallest_joint_limits (bool) - Whether to honor <safety_controller> tags in the URDF. Defaults to True.
  • source_list (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type sensor_msgs/msg/JointStates. Publication to that topic will update the joints named in the message. Defaults to an empty array.
  • delta (double) - How much to automatically move joints during each iteration. Defaults to 0.0.

Mapped Parameters

These parameters map from joint_names to values. The format to use these parameters is <parameter>.<key>:=<value>, where a new parameter is defined for each key. See below for examples.

  • zeros (map from string -> float) - A map of joint_names to initial starting values for the joint. For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param zeros.joint_name1:=value1 --param zeros.joint_name2:=value2. This parameter is not set by default, so all joints start at zero. For joints where zero isn't within the joint range, it uses the range's (max + min) / 2.
  • dependent_joints (map from string -> map from 'parent', 'factor', 'offset' -> float) - A map of joint_names to the joints that they mimic; compare to the <mimic> tag in URDF. A joint listed here will mimic the movements of the 'parent' joint, subject to the 'factor' and 'offset' provided. The 'parent' name must be provided, while the 'factor' and 'offset' parameters are optional (they default to 1.0 and 0.0, respectively). For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param dependent_joints.left_leg.parent:=right_leg --param dependent_joints.left_leg.offset:=0.0 --param dependent_joints.left_leg.factor:=2.0. This parameter is not set by default, in which case only joints that are marked as <mimic> in the URDF are mimiced.
CHANGELOG

Changelog for package joint_state_publisher

2.4.0 (2023-08-04)

  • Support for sdformat robot descriptions (#55)
  • Refactor urdf parser function (#94)
  • Gracefully handle SIGINT (#86)
  • Contributors: Dharini Dutia, Shane Loretz, Will

2.3.0 (2022-04-21)

  • Use underscores in setup.cfg. (#76)
  • Fix the mimic_cycle test to always succeed. (#74)
  • Remove deprecated policy warning (#67)
  • Clarify docs on \'mapped parameters\' in README (#66) (#71) * Clarify docs on \'mapped parameters\' in README Co-authored-by: Binit Shah <bshah@hello-robot.com>

  • Contributors: Binit Shah, Chris Lalancette

2.2.0 (2020-06-04)

  • Minor fixes from review.
  • Add in pytest.ini files for jsp and jsp_gui.
  • Stop using deprecated launch parameters in Foxy.
  • Contributors: Chris Lalancette

2.1.0 (2020-05-19)

2.0.0 (2020-03-10)

  • Port to ROS 2 (#30)
  • Remove the deprecated fallback option of use_gui (#34)
  • Split jsp and jsp gui (#31)
  • Only update one joint slider on value changed. (#11)
  • ignore \'planar\' joints just as \'fixed\' and \'floating\' (#14)
  • Make GUI window scroll & resize for large robots (#10)
  • Contributors: Andy McEvoy, Chris Lalancette, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joint_state_publisher at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.2.0
License BSD
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/joint_state_publisher.git
VCS Type git
VCS Version galactic
Last Updated 2021-09-28
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay

Joint State Publisher

This contains a package for publishing sensor_msgs/msg/JointState messages for a robot described with URDF. Given a URDF (either passed on the command-line or via the /robot_description topic), this node will continually publish values for all of the movable joints in the URDF to the /joint_states topic. In combination with robot_state_publisher, this ensures that there is a valid transform for all joints even when the joint doesn't have encoder data.

Published Topics

  • /joint_states (sensor_msgs/msg/JointState) - The state of all of the movable joints in the system.

Subscribed Topics

  • (optional) /robot_description (std_msgs/msg/String) - If no URDF is given on the command-line, then this node will listen on the /robot_description topic for the URDF to be published. Once it has been received at least once, this node will start to publish joint values to /joint_states.
  • (optional) /any_topic (sensor_msgs/msg/JointState) - If the sources_list parameter is not empty (see Parameters below), then every named topic in this parameter will be subscribed to for joint state updates. Do not add the default /joint_states topic to this list, as it will end up in an endless loop!

Parameters

  • rate (int) - The rate at which to publish updates to the /joint_states topic. Defaults to 10.
  • publish_default_positions (bool) - Whether to publish a default position for each movable joint to the /joint_states topic. Defaults to True.
  • publish_default_velocities (bool) - Whether to publish a default velocity for each movable joint to the /joint_states topic. Defaults to False.
  • publish_default_efforts (bool) - Whether to publish a default effort for each movable joint to the /joint_states topic. Defaults to False.
  • use_mimic_tags (bool) - Whether to honor <mimic> tags in the URDF. Defaults to True.
  • use_smallest_joint_limits (bool) - Whether to honor <safety_controller> tags in the URDF. Defaults to True.
  • source_list (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type sensor_msgs/msg/JointStates. Publication to that topic will update the joints named in the message. Defaults to an empty array.
  • delta (double) - How much to automatically move joints during each iteration. Defaults to 0.0.

Mapped Parameters

These parameters map from joint_names to values. The format to use these parameters is <parameter>.<key>:=<value>, where a new parameter is defined for each key. See below for examples.

  • zeros (map from string -> float) - A map of joint_names to initial starting values for the joint. For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param zeros.joint_name1:=value1 --param zeros.joint_name2:=value2. This parameter is not set by default, so all joints start at zero. For joints where zero isn't within the joint range, it uses the range's (max + min) / 2.
  • dependent_joints (map from string -> map from 'parent', 'factor', 'offset' -> float) - A map of joint_names to the joints that they mimic; compare to the <mimic> tag in URDF. A joint listed here will mimic the movements of the 'parent' joint, subject to the 'factor' and 'offset' provided. The 'parent' name must be provided, while the 'factor' and 'offset' parameters are optional (they default to 1.0 and 0.0, respectively). For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param dependent_joints.left_leg.parent:=right_leg --param dependent_joints.left_leg.offset:=0.0 --param dependent_joints.left_leg.factor:=2.0. This parameter is not set by default, in which case only joints that are marked as <mimic> in the URDF are mimiced.
CHANGELOG

Changelog for package joint_state_publisher

2.2.0 (2020-06-04)

  • Minor fixes from review.
  • Add in pytest.ini files for jsp and jsp_gui.
  • Stop using deprecated launch parameters in Foxy.
  • Contributors: Chris Lalancette

2.1.0 (2020-05-19)

2.0.0 (2020-03-10)

  • Port to ROS 2 (#30)
  • Remove the deprecated fallback option of use_gui (#34)
  • Split jsp and jsp gui (#31)
  • Only update one joint slider on value changed. (#11)
  • ignore \'planar\' joints just as \'fixed\' and \'floating\' (#14)
  • Make GUI window scroll & resize for large robots (#10)
  • Contributors: Andy McEvoy, Chris Lalancette, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joint_state_publisher at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.2.0
License BSD
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/joint_state_publisher.git
VCS Type git
VCS Version foxy
Last Updated 2021-09-28
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay

Joint State Publisher

This contains a package for publishing sensor_msgs/msg/JointState messages for a robot described with URDF. Given a URDF (either passed on the command-line or via the /robot_description topic), this node will continually publish values for all of the movable joints in the URDF to the /joint_states topic. In combination with robot_state_publisher, this ensures that there is a valid transform for all joints even when the joint doesn't have encoder data.

Published Topics

  • /joint_states (sensor_msgs/msg/JointState) - The state of all of the movable joints in the system.

Subscribed Topics

  • (optional) /robot_description (std_msgs/msg/String) - If no URDF is given on the command-line, then this node will listen on the /robot_description topic for the URDF to be published. Once it has been received at least once, this node will start to publish joint values to /joint_states.
  • (optional) /any_topic (sensor_msgs/msg/JointState) - If the sources_list parameter is not empty (see Parameters below), then every named topic in this parameter will be subscribed to for joint state updates. Do not add the default /joint_states topic to this list, as it will end up in an endless loop!

Parameters

  • rate (int) - The rate at which to publish updates to the /joint_states topic. Defaults to 10.
  • publish_default_positions (bool) - Whether to publish a default position for each movable joint to the /joint_states topic. Defaults to True.
  • publish_default_velocities (bool) - Whether to publish a default velocity for each movable joint to the /joint_states topic. Defaults to False.
  • publish_default_efforts (bool) - Whether to publish a default effort for each movable joint to the /joint_states topic. Defaults to False.
  • use_mimic_tags (bool) - Whether to honor <mimic> tags in the URDF. Defaults to True.
  • use_smallest_joint_limits (bool) - Whether to honor <safety_controller> tags in the URDF. Defaults to True.
  • source_list (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type sensor_msgs/msg/JointStates. Publication to that topic will update the joints named in the message. Defaults to an empty array.
  • delta (double) - How much to automatically move joints during each iteration. Defaults to 0.0.

Mapped Parameters

These parameters map from joint_names to values. The format to use these parameters is <parameter>.<key>:=<value>, where a new parameter is defined for each key. See below for examples.

  • zeros (map from string -> float) - A map of joint_names to initial starting values for the joint. For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param zeros.joint_name1:=value1 --param zeros.joint_name2:=value2. This parameter is not set by default, so all joints start at zero. For joints where zero isn't within the joint range, it uses the range's (max + min) / 2.
  • dependent_joints (map from string -> map from 'parent', 'factor', 'offset' -> float) - A map of joint_names to the joints that they mimic; compare to the <mimic> tag in URDF. A joint listed here will mimic the movements of the 'parent' joint, subject to the 'factor' and 'offset' provided. The 'parent' name must be provided, while the 'factor' and 'offset' parameters are optional (they default to 1.0 and 0.0, respectively). For example, in Eloquent and beyond, this parameter can be used from the command-line with ros2 run joint_state_publisher joint_state_publisher --ros-args --param dependent_joints.left_leg.parent:=right_leg --param dependent_joints.left_leg.offset:=0.0 --param dependent_joints.left_leg.factor:=2.0. This parameter is not set by default, in which case only joints that are marked as <mimic> in the URDF are mimiced.
CHANGELOG

Changelog for package joint_state_publisher

2.2.0 (2020-06-04)

  • Minor fixes from review.
  • Add in pytest.ini files for jsp and jsp_gui.
  • Stop using deprecated launch parameters in Foxy.
  • Contributors: Chris Lalancette

2.1.0 (2020-05-19)

2.0.0 (2020-03-10)

  • Port to ROS 2 (#30)
  • Remove the deprecated fallback option of use_gui (#34)
  • Split jsp and jsp gui (#31)
  • Only update one joint slider on value changed. (#11)
  • ignore \'planar\' joints just as \'fixed\' and \'floating\' (#14)
  • Make GUI window scroll & resize for large robots (#10)
  • Contributors: Andy McEvoy, Chris Lalancette, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged joint_state_publisher at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.12.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/joint_state_publisher.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-12-11
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay

Joint State Publisher

This contains a package for publishing sensor_msgs/JointState messages for a robot described with URDF. Given a URDF in the robot_description parameter on the parameter server, this node will continually publish default values for all of the movable joints in the URDF to the /joint_states topic.

See the ROS wiki for additional API documentation and tutorials.

This was originally part of the ros/robot_model repository. It has been moved to this repo as described by ros/robot_model#195

Published Topics

  • /joint_states (sensor_msgs/JointState) - The state of all of the movable joints in the system.

Subscribed Topics

  • (optional) /any_topic (sensor_msgs/JointState) - If the sources_list parameter is not empty (see Parameters below), then every named topic in this parameter will be subscribed to for joint state updates. Do not add the default /joint_states topic to this list, as it will end up in an endless loop!

Parameters

  • robot_description (string, required) - A URDF or DAE file describing the robot.
  • rate (int) - The rate at which to publish updates to the /joint_states topic. Defaults to 10.
  • publish_default_positions (bool) - Whether to publish a default position for each movable joint to the /joint_states topic. If False, use_gui must also be False. Defaults to True.
  • publish_default_velocities (bool) - Whether to publish a default velocity for each movable joint to the /joint_states topic. Defaults to False.
  • publish_default_efforts (bool) - Whether to publish a default effort for each movable joint to the /joint_states topic. Defaults to False.
  • use_mimic_tags (bool) - Whether to honor <mimic> tags in the URDF. Defaults to True.
  • use_smallest_joint_limits (bool) - Whether to honor <safety_controller> tags in the URDF. Defaults to True.
  • source_list (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type sensor_msgs/JointStates. Publication to that topic will update the joints named in the message. Defaults to an empty array.
  • zeros (dictionary of string -> float) - A dictionary of joint_names to initial starting values for the joint. Defaults to an empty dictionary, in which case 0.0 is assumed as the zero for all joints.
  • dependent_joints (dictionary of string -> dictionary of 'parent', 'factor', 'offset') - A dictionary of joint_names to the joints that they mimic; compare to the <mimic> tag in URDF. A joint listed here will mimic the movements of the 'parent' joint, subject to the 'factor' and 'offset' provided. The 'parent' name must be provided, while the 'factor' and 'offset' parameters are optional (they default to 1.0 and 0.0, respectively). Defaults to the empty dictionary, in which case only joints that are marked as <mimic> in the URDF are mimiced.
  • use_gui (bool) - Deprecated option to show a GUI useful for manipulating joints when launching the joint_state_publisher. Defaults to False. Will be removed in Noetic in favor of running joint_state_publisher_gui instead.
  • num_rows (int) - Deprecated option to control the number of rows shown in the GUI when use_gui is set to true. Defaults to the number of joints. Will be removed in Noetic.
CHANGELOG

Changelog for package joint_state_publisher

1.12.15 (2020-03-12)

  • Make it clear robot_description is required (#42)
  • Set source_update_cb attr before creating subscribers (#41)
  • Contributors: Shane Loretz

1.12.14 (2020-01-22)

  • Split jsp and jsp gui (#31)
  • Only update one joint slider on value changed. (#11)
  • ignore \'planar\' joints just as \'fixed\' and \'floating\' (#14)
  • Make GUI window scroll & resize for large robots (#10)
  • Contributors: Andy McEvoy, Chris Lalancette, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Recent questions tagged joint_state_publisher at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.11.14
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/robot_model.git
VCS Type git
VCS Version jade-devel
Last Updated 2017-08-14
Dev Status END-OF-LIFE
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay
README
No README found. See repository README.
CHANGELOG

Changelog for package joint_state_publisher

1.11.14 (2017-08-14)

1.11.13 (2017-03-27)

  • [joint_state_publisher] Handle time moving backwards Without this patch, joint_state_publisher dies whenever the ROS time moves backwards (e.g., when running [rosbag play --clock --loop]{.title-ref}).
  • Switch a couple more packages over to Chris and Shane.
  • Contributors: Chris Lalancette, Martin G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
wxpython

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Recent questions tagged joint_state_publisher at Robotics Stack Exchange

joint_state_publisher package from joint_state_publisher repo

joint_state_publisher

Package Summary

Tags No category tags.
Version 1.11.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/joint_state_publisher.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-02-09
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay
README
No README found. See repository README.
CHANGELOG

Changelog for package joint_state_publisher

1.11.15 (2017-09-15)

  • Added forward declaration for recent versions of urdfdom (#217)
  • pcrecpp is no longer a dependency (#216)
  • Contributors: Chris Lalancette, Michael G

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See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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Name
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Recent questions tagged joint_state_publisher at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.10.21
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/robot_model.git
VCS Type git
VCS Version hydro-devel
Last Updated 2015-12-09
Dev Status END-OF-LIFE
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • David V. Lu!!

Authors

  • David V. Lu!!
README
No README found. No README in repository either.
CHANGELOG

Changelog for package joint_state_publisher

1.10.21 (2014-11-30)

  • Added floating joints to joint types ignored by publisher
  • Contributors: Shaun Edwards

1.10.20 (2014-08-01)

  • Update package.xml Updating author and maintainer for consistency.
  • Contributors: David Lu!!

1.10.19 (2014-02-15) -------------------* Use #!/usr/bin/env python for systems with multiple Python versions. * Contributors: Benjamin Chr

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Recent questions tagged joint_state_publisher at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.12.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/joint_state_publisher.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-12-11
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay

Joint State Publisher

This contains a package for publishing sensor_msgs/JointState messages for a robot described with URDF. Given a URDF in the robot_description parameter on the parameter server, this node will continually publish default values for all of the movable joints in the URDF to the /joint_states topic.

See the ROS wiki for additional API documentation and tutorials.

This was originally part of the ros/robot_model repository. It has been moved to this repo as described by ros/robot_model#195

Published Topics

  • /joint_states (sensor_msgs/JointState) - The state of all of the movable joints in the system.

Subscribed Topics

  • (optional) /any_topic (sensor_msgs/JointState) - If the sources_list parameter is not empty (see Parameters below), then every named topic in this parameter will be subscribed to for joint state updates. Do not add the default /joint_states topic to this list, as it will end up in an endless loop!

Parameters

  • robot_description (string, required) - A URDF or DAE file describing the robot.
  • rate (int) - The rate at which to publish updates to the /joint_states topic. Defaults to 10.
  • publish_default_positions (bool) - Whether to publish a default position for each movable joint to the /joint_states topic. If False, use_gui must also be False. Defaults to True.
  • publish_default_velocities (bool) - Whether to publish a default velocity for each movable joint to the /joint_states topic. Defaults to False.
  • publish_default_efforts (bool) - Whether to publish a default effort for each movable joint to the /joint_states topic. Defaults to False.
  • use_mimic_tags (bool) - Whether to honor <mimic> tags in the URDF. Defaults to True.
  • use_smallest_joint_limits (bool) - Whether to honor <safety_controller> tags in the URDF. Defaults to True.
  • source_list (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type sensor_msgs/JointStates. Publication to that topic will update the joints named in the message. Defaults to an empty array.
  • zeros (dictionary of string -> float) - A dictionary of joint_names to initial starting values for the joint. Defaults to an empty dictionary, in which case 0.0 is assumed as the zero for all joints.
  • dependent_joints (dictionary of string -> dictionary of 'parent', 'factor', 'offset') - A dictionary of joint_names to the joints that they mimic; compare to the <mimic> tag in URDF. A joint listed here will mimic the movements of the 'parent' joint, subject to the 'factor' and 'offset' provided. The 'parent' name must be provided, while the 'factor' and 'offset' parameters are optional (they default to 1.0 and 0.0, respectively). Defaults to the empty dictionary, in which case only joints that are marked as <mimic> in the URDF are mimiced.
  • use_gui (bool) - Deprecated option to show a GUI useful for manipulating joints when launching the joint_state_publisher. Defaults to False. Will be removed in Noetic in favor of running joint_state_publisher_gui instead.
  • num_rows (int) - Deprecated option to control the number of rows shown in the GUI when use_gui is set to true. Defaults to the number of joints. Will be removed in Noetic.
CHANGELOG

Changelog for package joint_state_publisher

1.12.15 (2020-03-12)

  • Make it clear robot_description is required (#42)
  • Set source_update_cb attr before creating subscribers (#41)
  • Contributors: Shane Loretz

1.12.14 (2020-01-22)

  • Split jsp and jsp gui (#31)
  • Only update one joint slider on value changed. (#11)
  • ignore \'planar\' joints just as \'fixed\' and \'floating\' (#14)
  • Make GUI window scroll & resize for large robots (#10)
  • Contributors: Andy McEvoy, Chris Lalancette, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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Recent questions tagged joint_state_publisher at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.12.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/joint_state_publisher.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-12-11
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains a tool for setting and publishing joint state values for a given URDF.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • David V. Lu!!
  • Jackie Kay

Joint State Publisher

This contains a package for publishing sensor_msgs/JointState messages for a robot described with URDF. Given a URDF in the robot_description parameter on the parameter server, this node will continually publish default values for all of the movable joints in the URDF to the /joint_states topic.

See the ROS wiki for additional API documentation and tutorials.

This was originally part of the ros/robot_model repository. It has been moved to this repo as described by ros/robot_model#195

Published Topics

  • /joint_states (sensor_msgs/JointState) - The state of all of the movable joints in the system.

Subscribed Topics

  • (optional) /any_topic (sensor_msgs/JointState) - If the sources_list parameter is not empty (see Parameters below), then every named topic in this parameter will be subscribed to for joint state updates. Do not add the default /joint_states topic to this list, as it will end up in an endless loop!

Parameters

  • robot_description (string, required) - A URDF or DAE file describing the robot.
  • rate (int) - The rate at which to publish updates to the /joint_states topic. Defaults to 10.
  • publish_default_positions (bool) - Whether to publish a default position for each movable joint to the /joint_states topic. If False, use_gui must also be False. Defaults to True.
  • publish_default_velocities (bool) - Whether to publish a default velocity for each movable joint to the /joint_states topic. Defaults to False.
  • publish_default_efforts (bool) - Whether to publish a default effort for each movable joint to the /joint_states topic. Defaults to False.
  • use_mimic_tags (bool) - Whether to honor <mimic> tags in the URDF. Defaults to True.
  • use_smallest_joint_limits (bool) - Whether to honor <safety_controller> tags in the URDF. Defaults to True.
  • source_list (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type sensor_msgs/JointStates. Publication to that topic will update the joints named in the message. Defaults to an empty array.
  • zeros (dictionary of string -> float) - A dictionary of joint_names to initial starting values for the joint. Defaults to an empty dictionary, in which case 0.0 is assumed as the zero for all joints.
  • dependent_joints (dictionary of string -> dictionary of 'parent', 'factor', 'offset') - A dictionary of joint_names to the joints that they mimic; compare to the <mimic> tag in URDF. A joint listed here will mimic the movements of the 'parent' joint, subject to the 'factor' and 'offset' provided. The 'parent' name must be provided, while the 'factor' and 'offset' parameters are optional (they default to 1.0 and 0.0, respectively). Defaults to the empty dictionary, in which case only joints that are marked as <mimic> in the URDF are mimiced.
  • use_gui (bool) - Deprecated option to show a GUI useful for manipulating joints when launching the joint_state_publisher. Defaults to False. Will be removed in Noetic in favor of running joint_state_publisher_gui instead.
  • num_rows (int) - Deprecated option to control the number of rows shown in the GUI when use_gui is set to true. Defaults to the number of joints. Will be removed in Noetic.
CHANGELOG

Changelog for package joint_state_publisher

1.12.15 (2020-03-12)

  • Make it clear robot_description is required (#42)
  • Set source_update_cb attr before creating subscribers (#41)
  • Contributors: Shane Loretz

1.12.14 (2020-01-22)

  • Split jsp and jsp gui (#31)
  • Only update one joint slider on value changed. (#11)
  • ignore \'planar\' joints just as \'fixed\' and \'floating\' (#14)
  • Make GUI window scroll & resize for large robots (#10)
  • Contributors: Andy McEvoy, Chris Lalancette, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

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No direct system dependencies.

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