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 2020-06-04
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package 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.
  • zeros (dictionary of string -> float) - A dictionary of joint_names to initial starting values for the joint. In Eloquent, pass on the command-line as '-p zeros.joint_name:=value'. Defaults to an empty dictionary, in which case 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). In Eloquent, pass on the command-line as '-p dependent_joints.left_leg.parent:=right_leg -p dependent_joints.left_leg.offset:=0.0 -p dependent_joints.left_leg.factor:=2.0'. 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

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 answers.ros.org

Package Summary

Tags No category tags.
Version 2.0.0
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 2020-03-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package 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.
  • zeros (dictionary of string -> float) - A dictionary of joint_names to initial starting values for the joint. In Eloquent, pass on the command-line as '-p zeros.joint_name:=value'. Defaults to an empty dictionary, in which case 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). In Eloquent, pass on the command-line as '-p dependent_joints.left_leg.parent:=right_leg -p dependent_joints.left_leg.offset:=0.0 -p dependent_joints.left_leg.factor:=2.0'. 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

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 answers.ros.org

Package Summary

Tags No category tags.
Version 2.0.0
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 2020-03-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package 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.
  • zeros (dictionary of string -> float) - A dictionary of joint_names to initial starting values for the joint. In Eloquent, pass on the command-line as '-p zeros.joint_name:=value'. Defaults to an empty dictionary, in which case 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). In Eloquent, pass on the command-line as '-p dependent_joints.left_leg.parent:=right_leg -p dependent_joints.left_leg.offset:=0.0 -p dependent_joints.left_leg.factor:=2.0'. 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

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 answers.ros.org

Package Summary

Tags No category tags.
Version 1.15.0
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 2020-03-13
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package 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.
CHANGELOG

Changelog for package joint_state_publisher

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.

Recent questions tagged joint_state_publisher at answers.ros.org

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 2020-03-12
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package 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

System Dependencies

No direct system dependencies.

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Recent questions tagged joint_state_publisher at answers.ros.org

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 2020-03-12
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package 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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System Dependencies

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Recent questions tagged joint_state_publisher at answers.ros.org

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 2020-03-12
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package 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.

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Not currently indexed.

Recent questions tagged joint_state_publisher at answers.ros.org

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
Package 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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
wxpython

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