robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 3.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/robot_state_publisher.git
VCS Type git
VCS Version humble
Last Updated 2022-04-05
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 take the joint angles of a robot as input, and publishes the 3D poses of the robot links to tf2, using a kinematic tree model of the robot.

Additional Links

No additional links.

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • Karsten Knese

Robot State Publisher

This package contains the Robot State Publisher, a node and a class to publish the state of a robot to tf2. At startup time, Robot State Publisher is supplied with a kinematic tree model (URDF) of the robot. It then subscribes to the joint_states topic (of type sensor_msgs/msg/JointState) to get individual joint states. These joint states are used to update the kinematic tree model, and the resulting 3D poses are then published to tf2.

Robot State Publisher deals with two different "classes" of joint types: fixed and movable. Fixed joints (with the type "fixed") are published to the transient_local /tf_static topic once on startup (transient_local topics keep a history of what they published, so a later subscription can always get the latest state of the world). Movable joints are published to the regular /tf topic any time the appropriate joint is updated in the joint_states message.

Examples showing how to pass the robot_description parameter using a launch file are available in the 'launch' subdirectory.

Published Topics

  • robot_description (std_msgs/msg/String) - The description of the robot URDF as a string. Republishes the value set in the robot_description parameter, which is useful for getting informed of dynamic changes to the URDF. Published using the "transient local" quality of service, so subscribers should also be "transient local".
  • tf (tf2_msgs/msg/TFMessage) - The transforms corresponding to the movable joints of the robot.
  • tf_static (tf2_msgs/msg/TFMessage) - The transforms corresponding to the static joints of the robot.

Subscribed Topics

  • joint_states (sensor_msgs/msg/JointState) - The joint state updates to the robot poses. The RobotStatePublisher class takes these updates, does transformations (such as mimic joints), and then publishes the results on the tf2 topics.

Parameters

  • robot_description (string) - The original description of the robot in URDF form. This must be set at robot_state_publisher startup time, or the node will fail to start. Updates to this parameter will be reflected in the robot_description topic.
  • publish_frequency (double) - The maximum frequency at which non-static transforms (e.g. joint states) will be published to /tf. Defaults to 20.0 Hz.
  • ignore_timestamp (bool) - Whether to accept all joint states no matter what the timestamp (true), or to only publish joint state updates if they are newer than the last publish_frequency (false). Defaults to false.
  • frame_prefix (string) - An arbitrary prefix to add to the published tf2 frames. Defaults to the empty string.
CHANGELOG

Changelog for package robot_state_publisher

3.0.2 (2022-04-05)

  • Depend on orocos_kdl_vendor (#191)
  • Contributors: Jacob Perron

3.0.1 (2022-03-28)

  • export dependencies, to use robot_state_publisher as a component (#193)
  • Contributors: Kenji Brameld

3.0.0 (2022-01-14)

  • Fix include order for cpplint (#186)
  • Change how parameter updates are handled (#180)
  • Install includes to instal/\${PROJECT_NAME} (#184)
  • Make the change_fixed_joint test more robust (#183)
  • Add in a test to make sure fixed transforms change on update
  • Small C++ nice-isms in the tests
  • Switch to using target_include_directories for tests
  • Publish new fixed transforms when URDF is updated
  • Make joint_states subscription QoS configurable; default to SensorDataQoS (#179)
  • Remove dependency on urdfdom_headers (#168)
  • Contributors: Anthony Deschamps, Chris Lalancette, Jacob Perron, Russell Joyce, Shane Loretz

2.7.0 (2021-10-18)

  • Fix deprecated subscriber callbacks (#173)
  • Contributors: Abrar Rahman Protyasha

2.6.0 (2021-08-02)

  • Cleanup the documentation in the RobotStatePublisher class. (#172)
  • Always publish fixed frames to /tf_static (#158)
  • corrected publish_frequency default in README (#166)
  • Contributors: Chris Lalancette, Jacob Perron, Nils Schulte

2.5.0 (2021-06-11)

  • Add tf frame_prefix parameter (#159)
  • Contributors: Steve Nogar, Chris Lalancette

2.4.3 (2021-04-19)

  • Stop rejecting unknown parameters. (#161)
  • Contributors: Chris Lalancette

2.4.2 (2021-01-25)

  • clean up license to be standard bsd 3 clause (#130)
  • Update the maintainers. (#151)
  • Contributors: Chris Lalancette, Tully Foote

2.4.1 (2020-09-28)

  • fix types in range loops to avoid copy due to different type (#143)
  • Make sure not to crash on an invalid URDF. (#141)
  • Contributors: Chris Lalancette, Dirk Thomas

2.4.0 (2020-04-30)

  • Replace deprecated launch_ros usage (#137)
  • code style only: wrap after open parenthesis if not in one line (#129)
  • Refactor the ROS 2 code to be more modern (#126)
  • Switch to using TARGET_FILE to find the binary targets on Windows.
  • Fix tests on Windows.
  • Make the error message much nicer on Windows.
  • robot_state_publisher_node -> robot_state_publisher
  • Fix test build on Windows.
  • Get rid of redundant declaration.
  • Guard against negative publish_frequencies.
  • Switch to modern launch_testing ReadyToTest.
  • Add testing to robot_state_publisher.
  • Update some example launch files.
  • Implement the ability to change the parameters on the fly.
  • Fix silly bug while computing the publish interval.
  • Refactor to have a \"setup\" function during the constructor and later on during the parameter setup.
  • Mark things as explicit and final.
  • Update the documentation.
  • Make robot_state_publisher composable.
  • Contributors: Chris Lalancette, Dirk Thomas, Jacob Perron

2.3.1 (2019-10-23)

  • Switch the license back to BSD. (#121)
  • Contributors: Chris Lalancette

2.3.0 (2019-09-26)

  • Install include directories (#31)
  • Publish URDF string on startup (#24)
  • Contributors: Patrick Beeson, Poh Zhi-Ee, Shane Loretz

2.2.4 (2019-09-06)

  • Remove unused Eigen3 dependency (#27) (#29)
  • Don\'t export exe as library (#25) (ros2 #28)
  • Contributors: Shane Loretz

2.2.3 (2019-06-12)

  • Use rclcpp::Time for stamping transforms (#20)
  • Contributors: Scott K Logan

2.2.2 (2019-05-08)

  • changes to avoid deprecated API\'s (#19)
  • Contributors: William Woodall

2.2.1 (2019-04-26)

  • Updated to avoid deprecated API. (#18)
  • Contributors: William Woodall

2.2.0 (2019-04-14)

  • Set urdf content as parameter. (#15)
  • Contributors: Karsten Knese

2.1.0 (2018-06-27)

  • The robot model is now published on the robot_description topic as a std_msgs/String.msg. (#9)
  • Contributors: Brett, Mikael Arguedas

1.13.4 (2017-01-05)

  • Use urdf::*ShredPtr instead of boost::shared_ptr (#60)
  • Error log for empty JointState.position was downgraded to a throttled warning (#64)
  • Contributors: Jochen Sprickerhof, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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ur_bringup github-UniversalRobots-Universal_Robots_ROS2_Driver
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flir_camera_description github-ros-drivers-flir_camera_driver
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summit_xl_j2s6s300_moveit_config github-RobotnikAutomation-summit_xl_common
summit_xl_j2s7s300_moveit_config github-RobotnikAutomation-summit_xl_common
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panda_arm_2_moveit_config github-robosoft-ai-SMACC2
sm_panda_moveit2z_cb_inventory github-robosoft-ai-SMACC2
turtlebot3_manipulation_bringup github-ROBOTIS-GIT-turtlebot3_manipulation
turtlebot3_manipulation_description github-ROBOTIS-GIT-turtlebot3_manipulation
turtlebot3_manipulation_moveit_config github-ROBOTIS-GIT-turtlebot3_manipulation
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Launch files

  • launch/rsp-launch-urdf-inline.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • launch/rsp-launch-urdf-file.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • launch/rsp-launch-xacro-command-subst.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 3.2.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/robot_state_publisher.git
VCS Type git
VCS Version iron
Last Updated 2023-04-11
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 take the joint angles of a robot as input, and publishes the 3D poses of the robot links to tf2, using a kinematic tree model of the robot.

Additional Links

No additional links.

Maintainers

  • Chris Lalancette

Authors

  • Karsten Knese
  • Shane Loretz

Robot State Publisher

This package contains the Robot State Publisher, a node and a class to publish the state of a robot to tf2. At startup time, Robot State Publisher is supplied with a kinematic tree model (URDF) of the robot. It then subscribes to the joint_states topic (of type sensor_msgs/msg/JointState) to get individual joint states. These joint states are used to update the kinematic tree model, and the resulting 3D poses are then published to tf2.

Robot State Publisher deals with two different "classes" of joint types: fixed and movable. Fixed joints (with the type "fixed") are published to the transient_local /tf_static topic once on startup (transient_local topics keep a history of what they published, so a later subscription can always get the latest state of the world). Movable joints are published to the regular /tf topic any time the appropriate joint is updated in the joint_states message.

Examples showing how to pass the robot_description parameter using a launch file are available in the 'launch' subdirectory.

Published Topics

  • robot_description (std_msgs/msg/String) - The description of the robot URDF as a string. Republishes the value set in the robot_description parameter, which is useful for getting informed of dynamic changes to the URDF. Published using the "transient local" quality of service, so subscribers should also be "transient local".
  • tf (tf2_msgs/msg/TFMessage) - The transforms corresponding to the movable joints of the robot.
  • tf_static (tf2_msgs/msg/TFMessage) - The transforms corresponding to the static joints of the robot.

Subscribed Topics

  • joint_states (sensor_msgs/msg/JointState) - The joint state updates to the robot poses. The RobotStatePublisher class takes these updates, does transformations (such as mimic joints), and then publishes the results on the tf2 topics.

Parameters

  • robot_description (string) - The original description of the robot in URDF form. This must be set at robot_state_publisher startup time, or the node will fail to start. Updates to this parameter will be reflected in the robot_description topic.
  • publish_frequency (double) - The maximum frequency at which non-static transforms (e.g. joint states) will be published to /tf. Defaults to 20.0 Hz.
  • ignore_timestamp (bool) - Whether to accept all joint states no matter what the timestamp (true), or to only publish joint state updates if they are newer than the last publish_frequency (false). Defaults to false.
  • frame_prefix (string) - An arbitrary prefix to add to the published tf2 frames. Defaults to the empty string.
CHANGELOG

Changelog for package robot_state_publisher

3.2.0 (2023-04-11)

  • Update robot_state_publisher to C++17. (#204)
  • Contributors: Chris Lalancette

3.1.2 (2023-02-13)

  • [rolling] Update maintainers - 2022-11-07 (#203)
  • Contributors: Audrow Nash

3.1.1 (2022-09-13)

  • Mirror rolling to ros2
  • Contributors: Audrow Nash

3.1.0 (2022-05-10)

3.0.2 (2022-04-05)

  • Depend on orocos_kdl_vendor (#191)
  • Contributors: Jacob Perron

3.0.1 (2022-03-28)

  • export dependencies, to use robot_state_publisher as a component (#193)
  • Contributors: Kenji Brameld

3.0.0 (2022-01-14)

  • Fix include order for cpplint (#186)
  • Change how parameter updates are handled (#180)
  • Install includes to instal/\${PROJECT_NAME} (#184)
  • Make the change_fixed_joint test more robust (#183)
  • Add in a test to make sure fixed transforms change on update
  • Small C++ nice-isms in the tests
  • Switch to using target_include_directories for tests
  • Publish new fixed transforms when URDF is updated
  • Make joint_states subscription QoS configurable; default to SensorDataQoS (#179)
  • Remove dependency on urdfdom_headers (#168)
  • Contributors: Anthony Deschamps, Chris Lalancette, Jacob Perron, Russell Joyce, Shane Loretz

2.7.0 (2021-10-18)

  • Fix deprecated subscriber callbacks (#173)
  • Contributors: Abrar Rahman Protyasha

2.6.0 (2021-08-02)

  • Cleanup the documentation in the RobotStatePublisher class. (#172)
  • Always publish fixed frames to /tf_static (#158)
  • corrected publish_frequency default in README (#166)
  • Contributors: Chris Lalancette, Jacob Perron, Nils Schulte

2.5.0 (2021-06-11)

  • Add tf frame_prefix parameter (#159)
  • Contributors: Steve Nogar, Chris Lalancette

2.4.3 (2021-04-19)

  • Stop rejecting unknown parameters. (#161)
  • Contributors: Chris Lalancette

2.4.2 (2021-01-25)

  • clean up license to be standard bsd 3 clause (#130)
  • Update the maintainers. (#151)
  • Contributors: Chris Lalancette, Tully Foote

2.4.1 (2020-09-28)

  • fix types in range loops to avoid copy due to different type (#143)
  • Make sure not to crash on an invalid URDF. (#141)
  • Contributors: Chris Lalancette, Dirk Thomas

2.4.0 (2020-04-30)

  • Replace deprecated launch_ros usage (#137)
  • code style only: wrap after open parenthesis if not in one line (#129)
  • Refactor the ROS 2 code to be more modern (#126)
  • Switch to using TARGET_FILE to find the binary targets on Windows.
  • Fix tests on Windows.
  • Make the error message much nicer on Windows.
  • robot_state_publisher_node -> robot_state_publisher
  • Fix test build on Windows.
  • Get rid of redundant declaration.
  • Guard against negative publish_frequencies.
  • Switch to modern launch_testing ReadyToTest.
  • Add testing to robot_state_publisher.
  • Update some example launch files.
  • Implement the ability to change the parameters on the fly.
  • Fix silly bug while computing the publish interval.
  • Refactor to have a \"setup\" function during the constructor and later on during the parameter setup.
  • Mark things as explicit and final.
  • Update the documentation.
  • Make robot_state_publisher composable.
  • Contributors: Chris Lalancette, Dirk Thomas, Jacob Perron

2.3.1 (2019-10-23)

  • Switch the license back to BSD. (#121)
  • Contributors: Chris Lalancette

2.3.0 (2019-09-26)

  • Install include directories (#31)
  • Publish URDF string on startup (#24)
  • Contributors: Patrick Beeson, Poh Zhi-Ee, Shane Loretz

2.2.4 (2019-09-06)

  • Remove unused Eigen3 dependency (#27) (#29)
  • Don\'t export exe as library (#25) (ros2 #28)
  • Contributors: Shane Loretz

2.2.3 (2019-06-12)

  • Use rclcpp::Time for stamping transforms (#20)
  • Contributors: Scott K Logan

2.2.2 (2019-05-08)

  • changes to avoid deprecated API\'s (#19)
  • Contributors: William Woodall

2.2.1 (2019-04-26)

  • Updated to avoid deprecated API. (#18)
  • Contributors: William Woodall

2.2.0 (2019-04-14)

  • Set urdf content as parameter. (#15)
  • Contributors: Karsten Knese

2.1.0 (2018-06-27)

  • The robot model is now published on the robot_description topic as a std_msgs/String.msg. (#9)
  • Contributors: Brett, Mikael Arguedas

1.13.4 (2017-01-05)

  • Use urdf::*ShredPtr instead of boost::shared_ptr (#60)
  • Error log for empty JointState.position was downgraded to a throttled warning (#64)
  • Contributors: Jochen Sprickerhof, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

Name Repo Deps
cartographer_ros github-ros2-cartographer_ros
create_description github-AutonomyLab-create_robot
create_description github-AutonomyLab-create_autonomy
depthai_bridge github-luxonis-depthai-ros
depthai_descriptions github-luxonis-depthai-ros
depthai_examples github-luxonis-depthai-ros
mir_description github-DFKI-NI-mir_robot
mir_driver github-DFKI-NI-mir_robot
mir_gazebo github-DFKI-NI-mir_robot
moveit_resources_prbt_moveit_config github-ros-planning-moveit2
moveit_hybrid_planning github-ros-planning-moveit2
moveit_servo 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
turtlebot3_fake_node github-ROBOTIS-GIT-turtlebot3_simulations
ur_robot_driver github-UniversalRobots-Universal_Robots_ROS2_Driver
dummy_robot_bringup github-ros2-demos
gazebo_ros2_control_demos github-ros-simulation-gazebo_ros2_control
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ros_gz_sim_demos github-ignitionrobotics-ros_ign
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sm_aws_warehouse_navigation github-robosoft-ai-SMACC2
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sm_dance_bot_warehouse_2 github-robosoft-ai-SMACC2
sm_dance_bot_warehouse_3 github-robosoft-ai-SMACC2
urdf_launch github-ros-urdf_launch
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webots_ros2_tiago github-cyberbotics-webots_ros2
webots_ros2_turtlebot github-cyberbotics-webots_ros2
webots_ros2_universal_robot github-cyberbotics-webots_ros2
ur_description github-UniversalRobots-Universal_Robots_ROS2_Description
gz_ros2_control_demos github-ros-controls-gz_ros2_control
gz_ros2_control_tests github-ros-controls-gz_ros2_control
canopen_ros2_control github-ros-industrial-ros2_canopen
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
robotiq_description github-PickNikRobotics-ros2_robotiq_gripper

Launch files

  • launch/rsp-launch-urdf-inline.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • launch/rsp-launch-urdf-file.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • launch/rsp-launch-xacro-command-subst.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 3.3.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/robot_state_publisher.git
VCS Type git
VCS Version rolling
Last Updated 2023-06-07
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 take the joint angles of a robot as input, and publishes the 3D poses of the robot links to tf2, using a kinematic tree model of the robot.

Additional Links

No additional links.

Maintainers

  • Chris Lalancette

Authors

  • Karsten Knese
  • Shane Loretz

Robot State Publisher

This package contains the Robot State Publisher, a node and a class to publish the state of a robot to tf2. At startup time, Robot State Publisher is supplied with a kinematic tree model (URDF) of the robot. It then subscribes to the joint_states topic (of type sensor_msgs/msg/JointState) to get individual joint states. These joint states are used to update the kinematic tree model, and the resulting 3D poses are then published to tf2.

Robot State Publisher deals with two different "classes" of joint types: fixed and movable. Fixed joints (with the type "fixed") are published to the transient_local /tf_static topic once on startup (transient_local topics keep a history of what they published, so a later subscription can always get the latest state of the world). Movable joints are published to the regular /tf topic any time the appropriate joint is updated in the joint_states message.

Examples showing how to pass the robot_description parameter using a launch file are available in the 'launch' subdirectory.

Published Topics

  • robot_description (std_msgs/msg/String) - The description of the robot URDF as a string. Republishes the value set in the robot_description parameter, which is useful for getting informed of dynamic changes to the URDF. Published using the "transient local" quality of service, so subscribers should also be "transient local".
  • tf (tf2_msgs/msg/TFMessage) - The transforms corresponding to the movable joints of the robot.
  • tf_static (tf2_msgs/msg/TFMessage) - The transforms corresponding to the static joints of the robot.

Subscribed Topics

  • joint_states (sensor_msgs/msg/JointState) - The joint state updates to the robot poses. The RobotStatePublisher class takes these updates, does transformations (such as mimic joints), and then publishes the results on the tf2 topics.

Parameters

  • robot_description (string) - The original description of the robot in URDF form. This must be set at robot_state_publisher startup time, or the node will fail to start. Updates to this parameter will be reflected in the robot_description topic.
  • publish_frequency (double) - The maximum frequency at which non-static transforms (e.g. joint states) will be published to /tf. Defaults to 20.0 Hz.
  • ignore_timestamp (bool) - Whether to accept all joint states no matter what the timestamp (true), or to only publish joint state updates if they are newer than the last publish_frequency (false). Defaults to false.
  • frame_prefix (string) - An arbitrary prefix to add to the published tf2 frames. Defaults to the empty string.
CHANGELOG

Changelog for package robot_state_publisher

3.3.1 (2023-06-07)

  • Improve log messages (#206)
  • Contributors: Nick Lamprianidis

3.3.0 (2023-04-28)

3.2.0 (2023-04-11)

  • Update robot_state_publisher to C++17. (#204)
  • Contributors: Chris Lalancette

3.1.2 (2023-02-13)

  • [rolling] Update maintainers - 2022-11-07 (#203)
  • Contributors: Audrow Nash

3.1.1 (2022-09-13)

  • Mirror rolling to ros2
  • Contributors: Audrow Nash

3.1.0 (2022-05-10)

3.0.2 (2022-04-05)

  • Depend on orocos_kdl_vendor (#191)
  • Contributors: Jacob Perron

3.0.1 (2022-03-28)

  • export dependencies, to use robot_state_publisher as a component (#193)
  • Contributors: Kenji Brameld

3.0.0 (2022-01-14)

  • Fix include order for cpplint (#186)
  • Change how parameter updates are handled (#180)
  • Install includes to instal/\${PROJECT_NAME} (#184)
  • Make the change_fixed_joint test more robust (#183)
  • Add in a test to make sure fixed transforms change on update
  • Small C++ nice-isms in the tests
  • Switch to using target_include_directories for tests
  • Publish new fixed transforms when URDF is updated
  • Make joint_states subscription QoS configurable; default to SensorDataQoS (#179)
  • Remove dependency on urdfdom_headers (#168)
  • Contributors: Anthony Deschamps, Chris Lalancette, Jacob Perron, Russell Joyce, Shane Loretz

2.7.0 (2021-10-18)

  • Fix deprecated subscriber callbacks (#173)
  • Contributors: Abrar Rahman Protyasha

2.6.0 (2021-08-02)

  • Cleanup the documentation in the RobotStatePublisher class. (#172)
  • Always publish fixed frames to /tf_static (#158)
  • corrected publish_frequency default in README (#166)
  • Contributors: Chris Lalancette, Jacob Perron, Nils Schulte

2.5.0 (2021-06-11)

  • Add tf frame_prefix parameter (#159)
  • Contributors: Steve Nogar, Chris Lalancette

2.4.3 (2021-04-19)

  • Stop rejecting unknown parameters. (#161)
  • Contributors: Chris Lalancette

2.4.2 (2021-01-25)

  • clean up license to be standard bsd 3 clause (#130)
  • Update the maintainers. (#151)
  • Contributors: Chris Lalancette, Tully Foote

2.4.1 (2020-09-28)

  • fix types in range loops to avoid copy due to different type (#143)
  • Make sure not to crash on an invalid URDF. (#141)
  • Contributors: Chris Lalancette, Dirk Thomas

2.4.0 (2020-04-30)

  • Replace deprecated launch_ros usage (#137)
  • code style only: wrap after open parenthesis if not in one line (#129)
  • Refactor the ROS 2 code to be more modern (#126)
  • Switch to using TARGET_FILE to find the binary targets on Windows.
  • Fix tests on Windows.
  • Make the error message much nicer on Windows.
  • robot_state_publisher_node -> robot_state_publisher
  • Fix test build on Windows.
  • Get rid of redundant declaration.
  • Guard against negative publish_frequencies.
  • Switch to modern launch_testing ReadyToTest.
  • Add testing to robot_state_publisher.
  • Update some example launch files.
  • Implement the ability to change the parameters on the fly.
  • Fix silly bug while computing the publish interval.
  • Refactor to have a \"setup\" function during the constructor and later on during the parameter setup.
  • Mark things as explicit and final.
  • Update the documentation.
  • Make robot_state_publisher composable.
  • Contributors: Chris Lalancette, Dirk Thomas, Jacob Perron

2.3.1 (2019-10-23)

  • Switch the license back to BSD. (#121)
  • Contributors: Chris Lalancette

2.3.0 (2019-09-26)

  • Install include directories (#31)
  • Publish URDF string on startup (#24)
  • Contributors: Patrick Beeson, Poh Zhi-Ee, Shane Loretz

2.2.4 (2019-09-06)

  • Remove unused Eigen3 dependency (#27) (#29)
  • Don\'t export exe as library (#25) (ros2 #28)
  • Contributors: Shane Loretz

2.2.3 (2019-06-12)

  • Use rclcpp::Time for stamping transforms (#20)
  • Contributors: Scott K Logan

2.2.2 (2019-05-08)

  • changes to avoid deprecated API\'s (#19)
  • Contributors: William Woodall

2.2.1 (2019-04-26)

  • Updated to avoid deprecated API. (#18)
  • Contributors: William Woodall

2.2.0 (2019-04-14)

  • Set urdf content as parameter. (#15)
  • Contributors: Karsten Knese

2.1.0 (2018-06-27)

  • The robot model is now published on the robot_description topic as a std_msgs/String.msg. (#9)
  • Contributors: Brett, Mikael Arguedas

1.13.4 (2017-01-05)

  • Use urdf::*ShredPtr instead of boost::shared_ptr (#60)
  • Error log for empty JointState.position was downgraded to a throttled warning (#64)
  • Contributors: Jochen Sprickerhof, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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Launch files

  • launch/rsp-launch-urdf-inline.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • launch/rsp-launch-urdf-file.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • launch/rsp-launch-xacro-command-subst.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 1.15.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/robot_state_publisher.git
VCS Type git
VCS Version noetic-devel
Last Updated 2021-09-30
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 allows you to publish the state of a robot to

Additional Links

Maintainers

  • Chris Lalancette
  • Ian McMahon
  • Shane Loretz

Authors

  • Ioan Sucan
  • Jackie Kay
  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG

Changelog for package robot_state_publisher

1.15.2 (2021-09-30)

  • Reimplement tf_prefix in Noetic exactly as it was in Melodic (#169)
  • Include joint_states_index.bag in repo (#176)
  • Contributors: Shane Loretz

1.15.1 (2020-04-24)

1.15.0 (2020-04-17)

  • Remove state_publisher and add in a public default constructor (#87)
  • Added support for custom RobotStatePublisher implementations (API/ABI break) (#115)
  • Bump CMake version to avoid CMP0048 (#136)
  • Add missing test depend rosbag (#135)
  • Used orocos keys (#134)
  • Add joint_state_listener to the catkin package LIBRARIES (#112) (#114)
  • Make sure to make sensor_msgs a catkin dependency. (#122)
  • update how compiler flags are added (#104)
  • update install destination in CMakeLists.txt (#103)
  • Remove treefksolver completely from the repository. (#100)
  • changed return code from -1 to 1 since its considered a reserved bash exit code (#98)
  • Fixed problem when building static library version (#92) (#96)
  • Add Ian as a maintainer for robot_state_publisher. (#94)
  • added warning when joint is found in joint message but not in the urdf (#83)
  • added ros_warn if JointStateMessage is older than 30 seconds (#84)
  • Add tcp_no_delay to joint_states subscriber (#80) (#85)
  • Remove dependency on tf and tf_prefix support (#82)
  • make rostest in CMakeLists optional (ros/rosdistro#3010) (#75)
  • Added c++11 target_compile_options (#78)
  • Contributors: Alejandro Hern

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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Recent questions tagged robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 2.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/robot_state_publisher.git
VCS Type git
VCS Version ardent
Last Updated 2017-12-09
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

ROS2 version of the robot_state_publisher package

Additional Links

No additional links.

Maintainers

  • Karsten Knese

Authors

No additional authors.

ROS2 Version of Robot State Publisher

This package contains a forked version of the original ROS Robot State Publisher with all modifications to compile within a ROS2 Ecosystem.

CHANGELOG

Changelog for package robot_state_publisher

1.13.4 (2017-01-05)

  • Use urdf::*ShredPtr instead of boost::shared_ptr (#60)
  • Error log for empty JointState.position was downgraded to a throttled warning (#64)
  • Contributors: Jochen Sprickerhof, S

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 robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 2.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/robot_state_publisher.git
VCS Type git
VCS Version bouncy
Last Updated 2018-06-27
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

ROS2 version of the robot_state_publisher package

Additional Links

No additional links.

Maintainers

  • Karsten Knese

Authors

No additional authors.

ROS2 Version of Robot State Publisher

This package contains a forked version of the original ROS Robot State Publisher with all modifications to compile within a ROS2 Ecosystem.

CHANGELOG

Changelog for package robot_state_publisher

2.1.0 (2018-06-27)

  • The robot model is now published on the robot_description topic as a std_msgs/String.msg. (#9)
  • Contributors: Brett, Mikael Arguedas

1.13.4 (2017-01-05)

  • Use urdf::*ShredPtr instead of boost::shared_ptr (#60)
  • Error log for empty JointState.position was downgraded to a throttled warning (#64)
  • Contributors: Jochen Sprickerhof, S

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 robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 2.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/robot_state_publisher.git
VCS Type git
VCS Version crystal
Last Updated 2018-06-27
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS2 version of the robot_state_publisher package

Additional Links

No additional links.

Maintainers

  • Karsten Knese

Authors

No additional authors.

ROS2 Version of Robot State Publisher

This package contains a forked version of the original ROS Robot State Publisher with all modifications to compile within a ROS2 Ecosystem.

CHANGELOG

Changelog for package robot_state_publisher

2.1.0 (2018-06-27)

  • The robot model is now published on the robot_description topic as a std_msgs/String.msg. (#9)
  • Contributors: Brett, Mikael Arguedas

1.13.4 (2017-01-05)

  • Use urdf::*ShredPtr instead of boost::shared_ptr (#60)
  • Error log for empty JointState.position was downgraded to a throttled warning (#64)
  • Contributors: Jochen Sprickerhof, S

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 robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 2.3.1
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/robot_state_publisher.git
VCS Type git
VCS Version eloquent
Last Updated 2019-10-23
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

ROS2 version of the robot_state_publisher package

Additional Links

No additional links.

Maintainers

  • Karsten Knese

Authors

No additional authors.

ROS2 Version of Robot State Publisher

This package contains a forked version of the original ROS Robot State Publisher with all modifications to compile within a ROS2 Ecosystem.

CHANGELOG

Changelog for package robot_state_publisher

2.3.1 (2019-10-23)

  • Switch the license back to BSD. (#121)
  • Contributors: Chris Lalancette

2.3.0 (2019-09-26)

  • Install include directories (#31)
  • Publish URDF string on startup (#24)
  • Contributors: Patrick Beeson, Poh Zhi-Ee, Shane Loretz

2.2.4 (2019-09-06)

  • Remove unused Eigen3 dependency (#27) (#29)
  • Don\'t export exe as library (#25) (#28)
  • Contributors: Shane Loretz

2.2.3 (2019-06-12)

  • Use rclcpp::Time for stamping transforms (#20)
  • Contributors: Scott K Logan

2.2.2 (2019-05-08)

  • changes to avoid deprecated API\'s (#19)
  • Contributors: William Woodall

2.2.1 (2019-04-26)

  • Updated to avoid deprecated API. (#18)
  • Contributors: William Woodall

2.2.0 (2019-04-14)

  • Set urdf content as parameter. (#15)
  • Contributors: Karsten Knese

2.1.0 (2018-06-27)

  • The robot model is now published on the robot_description topic as a std_msgs/String.msg. (#9)
  • Contributors: Brett, Mikael Arguedas

1.13.4 (2017-01-05)

  • Use urdf::*ShredPtr instead of boost::shared_ptr (#60)
  • Error log for empty JointState.position was downgraded to a throttled warning (#64)
  • Contributors: Jochen Sprickerhof, S

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 robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 2.2.4
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/robot_state_publisher.git
VCS Type git
VCS Version dashing
Last Updated 2019-09-06
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS2 version of the robot_state_publisher package

Additional Links

No additional links.

Maintainers

  • Karsten Knese

Authors

No additional authors.

ROS2 Version of Robot State Publisher

This package contains a forked version of the original ROS Robot State Publisher with all modifications to compile within a ROS2 Ecosystem.

CHANGELOG

Changelog for package robot_state_publisher

2.2.4 (2019-09-06)

  • Remove unused Eigen3 dependency (#27) (#29)
  • Don\'t export exe as library (#25) (#28)
  • Contributors: Shane Loretz

2.2.3 (2019-06-12)

  • Use rclcpp::Time for stamping transforms (#20)
  • Contributors: Scott K Logan

2.2.2 (2019-05-08)

  • changes to avoid deprecated API\'s (#19)
  • Contributors: William Woodall

2.2.1 (2019-04-26)

  • Updated to avoid deprecated API. (#18)
  • Contributors: William Woodall

2.2.0 (2019-04-14)

  • Set urdf content as parameter. (#15)
  • Contributors: Karsten Knese

2.1.0 (2018-06-27)

  • The robot model is now published on the robot_description topic as a std_msgs/String.msg. (#9)
  • Contributors: Brett, Mikael Arguedas

1.13.4 (2017-01-05)

  • Use urdf::*ShredPtr instead of boost::shared_ptr (#60)
  • Error log for empty JointState.position was downgraded to a throttled warning (#64)
  • Contributors: Jochen Sprickerhof, S

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 robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 2.5.3
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/robot_state_publisher.git
VCS Type git
VCS Version galactic
Last Updated 2022-02-17
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 allows you to publish the state of a robot to

Additional Links

No additional links.

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • Karsten Knese

Robot State Publisher

This package contains the Robot State Publisher, a node and a class to publish the state of a robot to tf2. Once the state gets published, it is available to all components in the system that also use tf2. The package takes the joint angles of the robot as input and publishes the 3D poses of the robot links, using a kinematic tree model of the robot.

Examples showing how to pass the robot_description parameter using a launch file are available in the 'launch' subdirectory.

Published Topics

  • robot_description (std_msgs/msg/String) - The description of the robot URDF as a string. Republishes the value set in the robot_description parameter, which is useful for getting informed of dynamic changes to the URDF. Published using the "transient local" quality of service, so subscribers should also be "transient local".
  • tf (tf2_msgs/msg/TFMessage) - The transforms corresponding to the movable joints of the robot.
  • tf_static (tf2_msgs/msg/TFMessage) - The transforms corresponding to the static joints of the robot.

Subscribed Topics

  • joint_states (sensor_msgs/msg/JointState) - The joint state updates to the robot poses. The RobotStatePublisher class takes these updates, does transformations (such as mimic joints), and then publishes the results on the tf2 topics.

Parameters

  • robot_description (string) - The original description of the robot in URDF form. This must be set at robot_state_publisher startup time, or the node will fail to start. Updates to this parameter will be reflected in the robot_description topic.
  • publish_frequency (double) - The frequency at which fixed transforms will be republished to the network. Defaults to 50.0.
  • use_tf_static (bool) - Whether to publish fixed joints on the static broadcaster (/tf_static topic) or on the dynamic one (/tf topic). Defaults to true, so it publishes on the /tf_static topic.
  • ignore_timestamp (bool) - Whether to accept all joint states no matter what the timestamp (true), or to only publish joint state updates if they are newer than the last publish_frequency (false). Defaults to false.
  • frame_prefix (string) - An arbitrary prefix to add to the published tf2 frames. Defaults to the empty string.
CHANGELOG

Changelog for package robot_state_publisher

2.5.3 (2022-02-17)

  • Publish new fixed transforms when URDF is updated (#189)
  • Contributors: Chris Lalancette

2.5.2 (2021-11-30)

  • Prevent robot_state_publisher from publishing on a timer (#175)
  • Contributors: Daisuke Nishimatsu

2.5.1 (2021-08-04)

2.4.4 (2021-08-02)

  • Restore tf frame prefix support for ROS 2 (#159) (#171)
  • Contributors: Chris Lalancette

2.4.3 (2021-04-19)

  • Stop rejecting unknown parameters. (#161)
  • Contributors: Chris Lalancette

2.4.2 (2021-01-25)

  • clean up license to be standard bsd 3 clause (#130)
  • Update the maintainers. (#151)
  • Contributors: Chris Lalancette, Tully Foote

2.4.1 (2020-09-28)

  • fix types in range loops to avoid copy due to different type (#143)
  • Make sure not to crash on an invalid URDF. (#141)
  • Contributors: Chris Lalancette, Dirk Thomas

2.4.0 (2020-04-30)

  • Replace deprecated launch_ros usage (#137)
  • code style only: wrap after open parenthesis if not in one line (#129)
  • Refactor the ROS 2 code to be more modern (#126)
  • Switch to using TARGET_FILE to find the binary targets on Windows.
  • Fix tests on Windows.
  • Make the error message much nicer on Windows.
  • robot_state_publisher_node -> robot_state_publisher
  • Fix test build on Windows.
  • Get rid of redundant declaration.
  • Guard against negative publish_frequencies.
  • Switch to modern launch_testing ReadyToTest.
  • Add testing to robot_state_publisher.
  • Update some example launch files.
  • Implement the ability to change the parameters on the fly.
  • Fix silly bug while computing the publish interval.
  • Refactor to have a \"setup\" function during the constructor and later on during the parameter setup.
  • Mark things as explicit and final.
  • Update the documentation.
  • Make robot_state_publisher composable.
  • Contributors: Chris Lalancette, Dirk Thomas, Jacob Perron

2.3.1 (2019-10-23)

  • Switch the license back to BSD. (#121)
  • Contributors: Chris Lalancette

2.3.0 (2019-09-26)

  • Install include directories (#31)
  • Publish URDF string on startup (#24)
  • Contributors: Patrick Beeson, Poh Zhi-Ee, Shane Loretz

2.2.4 (2019-09-06)

  • Remove unused Eigen3 dependency (#27) (#29)
  • Don\'t export exe as library (#25) (ros2 #28)
  • Contributors: Shane Loretz

2.2.3 (2019-06-12)

  • Use rclcpp::Time for stamping transforms (#20)
  • Contributors: Scott K Logan

2.2.2 (2019-05-08)

  • changes to avoid deprecated API\'s (#19)
  • Contributors: William Woodall

2.2.1 (2019-04-26)

  • Updated to avoid deprecated API. (#18)
  • Contributors: William Woodall

2.2.0 (2019-04-14)

  • Set urdf content as parameter. (#15)
  • Contributors: Karsten Knese

2.1.0 (2018-06-27)

  • The robot model is now published on the robot_description topic as a std_msgs/String.msg. (#9)
  • Contributors: Brett, Mikael Arguedas

1.13.4 (2017-01-05)

  • Use urdf::*ShredPtr instead of boost::shared_ptr (#60)
  • Error log for empty JointState.position was downgraded to a throttled warning (#64)
  • Contributors: Jochen Sprickerhof, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

Name Repo Deps
depthai_bridge github-luxonis-depthai-ros
depthai_examples github-luxonis-depthai-ros
husky_control github-husky-husky
husky_viz github-husky-husky
mir_description github-DFKI-NI-mir_robot
mir_description github-dfki-ric-mir_robot
mir_driver github-DFKI-NI-mir_robot
mir_driver github-dfki-ric-mir_robot
mir_gazebo github-DFKI-NI-mir_robot
mir_gazebo github-dfki-ric-mir_robot
moveit_resources_prbt_moveit_config github-ros-planning-moveit2
moveit_hybrid_planning github-ros-planning-moveit2
moveit_servo 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
naoqi_driver github-ros-naoqi-naoqi_driver2
turtlebot3_bringup github-ROBOTIS-GIT-turtlebot3
turtlebot3_fake_node github-ROBOTIS-GIT-turtlebot3_simulations
ur_bringup github-UniversalRobots-Universal_Robots_ROS2_Driver
pmb2_bringup github-pal-robotics-pmb2_robot
crane_plus_description github-rt-net-crane_plus
crane_plus_moveit_config github-rt-net-crane_plus
dummy_robot_bringup github-ros2-demos
open_manipulator_x_description github-dynamixel-community-dynamixel_hardware
pantilt_bot_description github-dynamixel-community-dynamixel_hardware
gazebo_ros2_control_demos github-ros-simulation-gazebo_ros2_control
ign_ros2_control_demos github-ignitionrobotics-ign_ros2_control
ign_ros2_control_demos github-ros-controls-gz_ros2_control
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ros_ign_gazebo_demos github-gazebosim-ros_gz
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sm_dance_bot_warehouse_2 github-robosoft-ai-SMACC2
sm_dance_bot_warehouse_3 github-robosoft-ai-SMACC2
ros_base github-ros2-variants
webots_ros2_epuck github-cyberbotics-webots_ros2
webots_ros2_tiago github-cyberbotics-webots_ros2
webots_ros2_turtlebot github-cyberbotics-webots_ros2
webots_ros2_universal_robot github-cyberbotics-webots_ros2
irobot_create_common_bringup github-iRobotEducation-create3_sim
turtlebot4_description github-turtlebot-turtlebot4
ur_description github-UniversalRobots-Universal_Robots_ROS2_Description
tiago_bringup github-pal-robotics-tiago_robot

Launch files

  • launch/rsp-launch-urdf-inline.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • launch/rsp-launch-urdf-file.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • launch/rsp-launch-xacro-command-subst.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 2.4.5
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/robot_state_publisher.git
VCS Type git
VCS Version foxy
Last Updated 2021-08-04
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 allows you to publish the state of a robot to

Additional Links

No additional links.

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • Karsten Knese

Robot State Publisher

This package contains the Robot State Publisher, a node and a class to publish the state of a robot to tf2. Once the state gets published, it is available to all components in the system that also use tf2. The package takes the joint angles of the robot as input and publishes the 3D poses of the robot links, using a kinematic tree model of the robot.

Examples showing how to pass the robot_description parameter using a launch file are available in the 'launch' subdirectory.

Published Topics

  • robot_description (std_msgs/msg/String) - The description of the robot URDF as a string. Republishes the value set in the robot_description parameter, which is useful for getting informed of dynamic changes to the URDF. Published using the "transient local" quality of service, so subscribers should also be "transient local".
  • tf (tf2_msgs/msg/TFMessage) - The transforms corresponding to the movable joints of the robot.
  • tf_static (tf2_msgs/msg/TFMessage) - The transforms corresponding to the static joints of the robot.

Subscribed Topics

  • joint_states (sensor_msgs/msg/JointState) - The joint state updates to the robot poses. The RobotStatePublisher class takes these updates, does transformations (such as mimic joints), and then publishes the results on the tf2 topics.

Parameters

  • robot_description (string) - The original description of the robot in URDF form. This must be set at robot_state_publisher startup time, or the node will fail to start. Updates to this parameter will be reflected in the robot_description topic.
  • publish_frequency (double) - The frequency at which fixed transforms will be republished to the network. Defaults to 50.0.
  • use_tf_static (bool) - Whether to publish fixed joints on the static broadcaster (/tf_static topic) or on the dynamic one (/tf topic). Defaults to true, so it publishes on the /tf_static topic.
  • ignore_timestamp (bool) - Whether to accept all joint states no matter what the timestamp (true), or to only publish joint state updates if they are newer than the last publish_frequency (false). Defaults to false.
  • frame_prefix (string) - An arbitrary prefix to add to the published tf2 frames. Defaults to the empty string.
CHANGELOG

Changelog for package robot_state_publisher

2.4.5 (2021-08-04)

  • Restore tf frame prefix support for ROS 2 (#159) (#170)
  • Contributors: Chris Lalancette

2.4.2 (2021-01-25)

  • clean up license to be standard bsd 3 clause (#130)
  • Update the maintainers. (#151)
  • Contributors: Chris Lalancette, Tully Foote

2.4.1 (2020-09-28)

  • fix types in range loops to avoid copy due to different type (#143)
  • Make sure not to crash on an invalid URDF. (#141)
  • Contributors: Chris Lalancette, Dirk Thomas

2.4.0 (2020-04-30)

  • Replace deprecated launch_ros usage (#137)
  • code style only: wrap after open parenthesis if not in one line (#129)
  • Refactor the ROS 2 code to be more modern (#126)
  • Switch to using TARGET_FILE to find the binary targets on Windows.
  • Fix tests on Windows.
  • Make the error message much nicer on Windows.
  • robot_state_publisher_node -> robot_state_publisher
  • Fix test build on Windows.
  • Get rid of redundant declaration.
  • Guard against negative publish_frequencies.
  • Switch to modern launch_testing ReadyToTest.
  • Add testing to robot_state_publisher.
  • Update some example launch files.
  • Implement the ability to change the parameters on the fly.
  • Fix silly bug while computing the publish interval.
  • Refactor to have a \"setup\" function during the constructor and later on during the parameter setup.
  • Mark things as explicit and final.
  • Update the documentation.
  • Make robot_state_publisher composable.
  • Contributors: Chris Lalancette, Dirk Thomas, Jacob Perron

2.3.1 (2019-10-23)

  • Switch the license back to BSD. (#121)
  • Contributors: Chris Lalancette

2.3.0 (2019-09-26)

  • Install include directories (#31)
  • Publish URDF string on startup (#24)
  • Contributors: Patrick Beeson, Poh Zhi-Ee, Shane Loretz

2.2.4 (2019-09-06)

  • Remove unused Eigen3 dependency (#27) (#29)
  • Don\'t export exe as library (#25) (ros2 #28)
  • Contributors: Shane Loretz

2.2.3 (2019-06-12)

  • Use rclcpp::Time for stamping transforms (#20)
  • Contributors: Scott K Logan

2.2.2 (2019-05-08)

  • changes to avoid deprecated API\'s (#19)
  • Contributors: William Woodall

2.2.1 (2019-04-26)

  • Updated to avoid deprecated API. (#18)
  • Contributors: William Woodall

2.2.0 (2019-04-14)

  • Set urdf content as parameter. (#15)
  • Contributors: Karsten Knese

2.1.0 (2018-06-27)

  • The robot model is now published on the robot_description topic as a std_msgs/String.msg. (#9)
  • Contributors: Brett, Mikael Arguedas

1.13.4 (2017-01-05)

  • Use urdf::*ShredPtr instead of boost::shared_ptr (#60)
  • Error log for empty JointState.position was downgraded to a throttled warning (#64)
  • Contributors: Jochen Sprickerhof, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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create_description github-AutonomyLab-create_autonomy
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mir_description github-DFKI-NI-mir_robot
mir_description github-dfki-ric-mir_robot
mir_driver github-DFKI-NI-mir_robot
mir_driver github-dfki-ric-mir_robot
mir_gazebo github-DFKI-NI-mir_robot
mir_gazebo github-dfki-ric-mir_robot
moveit_resources_prbt_moveit_config github-ros-planning-moveit2
moveit_hybrid_planning github-ros-planning-moveit2
moveit_servo 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
naoqi_driver github-ros-naoqi-naoqi_driver2
open_manipulator_x_description github-ROBOTIS-GIT-open_manipulator
open_manipulator_x_description github-dynamixel-community-dynamixel_hardware
pf_description github-PepperlFuchs-pf_lidar_ros_driver
psen_scan_v2 github-PilzDE-psen_scan_v2
raspimouse_description github-rt-net-raspimouse_description
turtlebot3_bringup github-ROBOTIS-GIT-turtlebot3
turtlebot3_fake_node github-ROBOTIS-GIT-turtlebot3_simulations
ur_bringup github-UniversalRobots-Universal_Robots_ROS2_Driver
ur_description github-UniversalRobots-Universal_Robots_ROS2_Driver
pmb2_bringup github-pal-robotics-pmb2_robot
crane_plus_description github-rt-net-crane_plus
crane_plus_ignition github-rt-net-crane_plus
crane_plus_moveit_config github-rt-net-crane_plus
dbw_fca_description bitbucket-dataspeedinc-dbw_ros
dbw_ford_description bitbucket-dataspeedinc-dbw_ros
dbw_polaris_description bitbucket-dataspeedinc-dbw_ros
dummy_robot_bringup github-ros2-demos
pantilt_bot_description github-dynamixel-community-dynamixel_hardware
dynamixel_hardware_interface github-OUXT-Polaris-dynamixel_hardware_interface
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raspimouse_slam github-rt-net-raspimouse_slam_navigation_ros2
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ros_ign_gazebo_demos github-gazebosim-ros_gz
turtlebot3_manipulation_bringup github-ROBOTIS-GIT-turtlebot3_manipulation
turtlebot3_manipulation_description github-ROBOTIS-GIT-turtlebot3_manipulation
turtlebot3_manipulation_moveit_config github-ROBOTIS-GIT-turtlebot3_manipulation
urdf_launch github-MetroRobots-urdf_launch
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webots_ros2_epuck github-cyberbotics-webots_ros2
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webots_ros2_turtlebot github-cyberbotics-webots_ros2
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xacro_live github-orise-robotics-xacro_live
irobot_create_description github-iRobotEducation-create3_sim
tiago_bringup github-pal-robotics-tiago_robot

Launch files

  • launch/rsp-launch-urdf-inline.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • launch/rsp-launch-urdf-file.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • launch/rsp-launch-xacro-command-subst.xml
    • Copyright (c) 2020 Open Source Robotics Foundation, Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 1.13.7
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/robot_state_publisher.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2019-08-27
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 allows you to publish the state of a robot to

Additional Links

Maintainers

  • Chris Lalancette
  • Ian McMahon
  • Shane Loretz

Authors

  • Ioan Sucan
  • Jackie Kay
  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG

Changelog for package robot_state_publisher

1.13.7 (2019-08-27)

  • Remove treefksolver completely from the repository. (#100) (#101)
  • Add Ian as a maintainer for robot_state_publisher (#95)
  • Fixed problem when building static library version (#92)
  • Contributors: Chris Lalancette, Shane Loretz, ivanpauno

1.13.6 (2018-04-05)

  • added warning when joint is found in joint message but not in the urdf (#83)
  • added ros_warn if JointStateMessage is older than 30 seconds (#84)
  • Add tcp_no_delay to joint_states subscriber (#80)
  • make rostest in CMakeLists optional (ros/rosdistro#3010) (#75)
  • Added c++11 target_compile_options (#78)
  • Contributors: Lukas Bulwahn, Shane Loretz, Victor Lopez, jgueldenstein

1.13.5 (2017-04-11)

  • Style cleanup throughout the tree.
  • add Chris and Shane as maintainers (#70)
  • Contributors: Chris Lalancette, William Woodall

1.13.4 (2017-01-05)

  • Use urdf::*ShredPtr instead of boost::shared_ptr (#60)
  • Error log for empty JointState.position was downgraded to a throttled warning (#64)
  • Contributors: Jochen Sprickerhof, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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desistek_saga_description github-uuvsimulator-desistek_saga
dynamic_robot_state_publisher github-peci1-dynamic_robot_state_publisher
eca_a9_description github-uuvsimulator-eca_a9
ensenso_camera github-ensenso-ros_driver
franka_control github-frankaemika-franka_ros
panda_moveit_config github-frankaemika-franka_ros
lauv_description github-uuvsimulator-lauv_gazebo
robot github-ros-metapackages
mir_description github-DFKI-NI-mir_robot
mir_description github-dfki-ric-mir_robot
mir_driver github-DFKI-NI-mir_robot
mir_driver github-dfki-ric-mir_robot
mir_gazebo github-DFKI-NI-mir_robot
mir_gazebo github-dfki-ric-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
pointgrey_camera_description github-ros-drivers-pointgrey_camera_driver
pr2_gazebo github-PR2-pr2_simulator
rexrov2_description github-uuvsimulator-rexrov2
sick_ldmrs_description github-SICKAG-sick_ldmrs_laser
sick_ldmrs_tools github-SICKAG-sick_ldmrs_laser
sick_tim github-uos-sick_tim
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uuv_thruster_manager github-uuvsimulator-uuv_simulator
uuv_descriptions github-uuvsimulator-uuv_simulator
xpp_vis github-leggedrobotics-xpp
ca_description github-AutonomyLab-create_autonomy
dynpick_driver github-tork-a-dynpick_driver
katana_arm_gazebo github-uos-katana_driver

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 1.12.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/robot_state_publisher.git
VCS Type git
VCS Version jade-devel
Last Updated 2017-02-23
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package allows you to publish the state of a robot to

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • Ioan Sucan
  • Jackie Kay
  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG

Changelog for package robot_state_publisher

1.12.2 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49)
  • Restore default argument of tf_static
  • Contributors: Jackie Kay

1.12.1 (2016-02-22)

  • Merge pull request #42 from ros/fix_tests_jade Fix tests for Jade
  • Correct failing tests
  • Re-enabling rostests
  • Merge pull request #39 from scpeters/issue_38
  • Fix API break in publishFixedTransforms A bool argument was added to RobotStatePublisher::publishFixedTransforms which broke API. I\'ve added a default value of false, to match the default specified in the JointStateListener constructor.
  • Contributors: Jackie Kay, Jonathan Bohren, Steven Peters

1.12.0 (2015-10-21)

  • Merge pull request #37 from clearpathrobotics/static-default Publish fixed joints over tf_static by default
  • Merge pull request #34 from ros/tf2-static-jade Port to tf2 and enable using static broadcaster
  • Merge pull request #32 from shadow-robot/fix_issue#19 Check URDF to distinguish fixed joints from floating joints. Floating joint are ignored by the publisher.
  • Merge pull request #26 from xqms/remove-debug get rid of argv[0] debug output on startup
  • Contributors: David Lu!!, Ioan A Sucan, Jackie Kay, Max Schwarz, Paul Bovbel, Toni Oliver

1.11.1 (2016-02-22)

  • Merge pull request #41 from ros/fix_tests_indigo Re-enable and clean up rostests
  • Correct failing tests
  • Re-enabling rostests
  • Fix API break in publishFixedTransforms A bool argument was added to RobotStatePublisher::publishFixedTransforms which broke API. I\'ve added a default value of false, to match the default specified in the JointStateListener constructor.
  • Contributors: Jackie Kay, Jonathan Bohren, Steven Peters

1.11.0 (2015-10-21)

  • Merge pull request #28 from clearpathrobotics/tf2-static

1.10.4 (2014-11-30)

  • Merge pull request #21 from rcodddow/patch-1
  • Fix for joint transforms not being published anymore after a clock reset (e.g. when playing a bagfile and looping)
  • Contributors: Ioan A Sucan, Robert Codd-Downey, Timm Linder

1.10.3 (2014-07-24)

  • add version depend on orocos_kdl >= 1.3.0 Conflicts: package.xml
  • Update KDL SegmentMap interface to optionally use shared pointers The KDL Tree API optionally uses shared pointers on platforms where the STL containers don\'t support incomplete types.
  • Contributors: Brian Jensen, William Woodall

1.10.0 (2014-03-03)

  • minor style fixes
  • Add support for mimic tag.
  • Contributors: Ioan Sucan, Konrad Banachowicz

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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Recent questions tagged robot_state_publisher at answers.ros.org

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 1.11.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/robot_state_publisher.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-02-23
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package allows you to publish the state of a robot to

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • Ioan Sucan
  • Jackie Kay
  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG

Changelog for package robot_state_publisher

1.11.2 (2016-05-20)

  • Add back future dating for robot_state_publisher (#50)
  • Contributors: Jackie Kay

1.11.1 (2016-02-22)

  • Merge pull request #41 from ros/fix_tests_indigo Re-enable and clean up rostests
  • Correct failing tests
  • Re-enabling rostests
  • Fix API break in publishFixedTransforms A bool argument was added to RobotStatePublisher::publishFixedTransforms which broke API. I\'ve added a default value of false, to match the default specified in the JointStateListener constructor.
  • Contributors: Jackie Kay, Jonathan Bohren, Steven Peters

1.11.0 (2015-10-21)

  • Merge pull request #28 from clearpathrobotics/tf2-static Port to tf2 and enable using static broadcaster
  • Merge pull request #32 from shadow-robot/fix_issue#19 Check URDF to distinguish fixed joints from floating joints. Floating joint are ignored by the publisher.
  • Merge pull request #26 from xqms/remove-debug get rid of argv[0] debug output on startup
  • Contributors: David Lu!!, Ioan A Sucan, Jackie Kay, Max Schwarz, Paul Bovbel, Remo Diethelm, Toni Oliver

1.10.4 (2014-11-30)

  • Merge pull request #21 from rcodddow/patch-1
  • Fix for joint transforms not being published anymore after a clock reset (e.g. when playing a bagfile and looping)
  • Contributors: Ioan A Sucan, Robert Codd-Downey, Timm Linder

1.10.3 (2014-07-24)

  • add version depend on orocos_kdl >= 1.3.0 Conflicts: package.xml
  • Update KDL SegmentMap interface to optionally use shared pointers The KDL Tree API optionally uses shared pointers on platforms where the STL containers don\'t support incomplete types.
  • Contributors: Brian Jensen, William Woodall

1.10.0 (2014-03-03)

  • minor style fixes
  • Add support for mimic tag.
  • Contributors: Ioan Sucan, Konrad Banachowicz

Wiki Tutorials

See ROS Wiki Tutorials for more details.

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