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robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 3.0.3
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 humble
Last Updated 2024-01-24
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

3.0.3 (2024-01-24)

  • Fix reload after a description with a mimic joint (#212) (#214)
  • Contributors: mergify[bot]

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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Dependant Packages

Name Deps
cartographer_ros
create_description
depthai_bridge
depthai_descriptions
depthai_examples
human_description
leo_description
leo_bringup
leo_gz_bringup
mir_description
mir_driver
mir_gazebo
moveit_resources_prbt_moveit_config
moveit_hybrid_planning
moveit_servo
moveit_ros_trajectory_cache
dual_arm_panda_moveit_config
moveit_resources_fanuc_moveit_config
moveit_resources
moveit_resources_panda_moveit_config
naoqi_driver
qb_device_bringup
raspimouse_description
raspimouse_gazebo
turtlebot3_bringup
turtlebot3_fake_node
ur_bringup
ur_robot_driver
urdf_sim_tutorial
flir_camera_description
pmb2_bringup
crane_plus_description
crane_plus_gazebo
crane_plus_moveit_config
dummy_robot_bringup
open_manipulator_x_description
pantilt_bot_description
gazebo_ros2_control_demos
nav2_system_tests
raspimouse_slam
sick_safetyscanners2
sm_dance_bot
sm_dance_bot_warehouse
sm_dance_bot_warehouse_2
sm_dance_bot_warehouse_3
panda_arm_1_moveit_config
panda_arm_2_moveit_config
sm_panda_moveit2z_cb_inventory
turtlebot3_manipulation_bringup
turtlebot3_manipulation_description
turtlebot3_manipulation_moveit_config
urdf_launch
ros_base
webots_ros2_epuck
webots_ros2_tiago
webots_ros2_turtlebot
webots_ros2_universal_robot
irobot_create_common_bringup
turtlebot4_description
ur_description
bcr_bot
gazebo_set_joint_positions_plugin
qb_softhand_industry_ros2_control
reach_ros
ign_ros2_control_demos
canopen_tests
kortex_description
kinova_gen3_6dof_robotiq_2f_85_moveit_config
kinova_gen3_7dof_robotiq_2f_85_moveit_config
kinova_gen3_lite_moveit_config
robotiq_description
ros_gz_sim_demos
as2_visualization
andino_description
andino_gz_classic
clearpath_control
clearpath_manipulators_description
clearpath_platform_description
gazebo_planar_move_plugin
kuka_agilus_support
kuka_cybertech_support
kuka_fortec_support
kuka_iontec_support
kuka_kr_moveit_config
kuka_lbr_iisy_moveit_config
kuka_lbr_iisy_support
kuka_lbr_iiwa_moveit_config
kuka_lbr_iiwa_support
kuka_quantec_support
omni_base_bringup
pal_gripper_simulation
play_motion2
tiago_description

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 Robotics Stack Exchange

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 3.2.1
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 iron
Last Updated 2024-02-07
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

3.2.1 (2024-02-07)

  • Fix reload after a description with a mimic joint (#213)
  • Contributors: Guillaume Doisy

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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 3.3.3
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 jazzy
Last Updated 2024-01-24
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

3.3.3 (2024-01-24)

  • Fix reload after a description with a mimic joint (#212)
  • Contributors: Guillaume Doisy

3.3.2 (2023-11-06)

  • Remove ament_target_dependencies. (#209)
  • Contributors: Chris Lalancette

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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 3.4.1
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 2024-08-28
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package 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

3.4.1 (2024-08-28)

  • update urdf model header (#223)
  • Contributors: Alejandro Hernández Cordero

3.4.0 (2024-04-26)

3.3.3 (2024-01-24)

  • Fix reload after a description with a mimic joint (#212)
  • Contributors: Guillaume Doisy

3.3.2 (2023-11-06)

  • Remove ament_target_dependencies. (#209)
  • Contributors: Chris Lalancette

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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

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 2024-08-09
Dev Status MAINTAINED
CI status
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 Hernández Cordero, Chris Lalancette, James Xu, Lukas Bulwahn, Martin Pecka, Shane Loretz, betab0t, 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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Dependant Packages

Name Deps
audibot_gazebo
cob_cartesian_controller
cob_obstacle_distance
cob_twist_controller
cob_grasp_generation
cob_moveit_bringup
cob_bringup
cob_hardware_config
cob_gazebo_worlds
crane_x7_moveit_config
create_description
dbw_fca_description
dbw_mkz_description
dbw_polaris_description
depthai_bridge
depthai_descriptions
depthai_examples
dingo_description
dynamic_robot_state_publisher
ensenso_camera
exotica_examples
fetch_bringup
freight_bringup
fetch_moveit_config
franka_control
husky_control
husky_viz
industrial_robot_client
jackal_description
jsk_tilt_laser
pr2eus
pr2eus_openrave
jsk_pcl_ros
jsk_rviz_plugins
khi_duaro_moveit_config
khi_robot_bringup
khi_rs007l_moveit_config
khi_rs007n_moveit_config
khi_rs013n_moveit_config
khi_rs020n_moveit_config
khi_rs025n_moveit_config
khi_rs030n_moveit_config
khi_rs080n_moveit_config
leo_description
leo_viz
leo_bringup
leo_gazebo
robot
mir_description
mir_driver
mir_gazebo
moveit_resources_dual_panda_moveit_config
moveit_resources_fanuc_moveit_config
moveit_resources
moveit_resources_panda_moveit_config
moveit_resources_prbt_moveit_config
multisense_bringup
naoqi_driver
panda_moveit_config
pass_through_controllers
pf_description
prbt_moveit_config
prbt_support
pincher_arm_bringup
pincher_arm_moveit_config
pointgrey_camera_description
pr2_bringup
pr2_gazebo
psen_scan_v2
raspimouse_description
ridgeback_description
robotont_description
effort_controllers
cartesian_trajectory_controller
sciurus17_moveit_config
sick_ldmrs_description
sick_ldmrs_tools
sick_tim
turtlebot3_bringup
turtlebot3_fake
ur10_moveit_config
ur10e_moveit_config
ur16e_moveit_config
ur20_moveit_config
ur30_moveit_config
ur3_moveit_config
ur3e_moveit_config
ur5_moveit_config
ur5e_moveit_config
ur_description
ur_gazebo
ur_robot_driver
urdf_sim_tutorial
urdf_tutorial
rwt_moveit
warthog_description
webots_ros
xpp_vis
flir_camera_description
bcr_bot
diffbot_control
diffbot_description
mia_hand_description
mia_hand_moveit_config
nicla_vision_ros
reach_ros
thunder_line_follower_pmr3100

Recent questions tagged robot_state_publisher at Robotics Stack Exchange

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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

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/ros/robot_state_publisher.git
VCS Type git
VCS Version crystal
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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 2.2.5
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/robot_state_publisher.git
VCS Type git
VCS Version dashing
Last Updated 2019-12-04
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

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

2.2.5 (2019-12-04)

  • Publish description right away (#124)
  • Contributors: 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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

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 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, Sébastien BARTHÉLÉMY

1.13.3 (2016-10-20)

  • Added a new parameter "ignore_timestamp" (#65)
  • Fixed joints are not published over tf_static by default (#56)
  • Fixed segfault on undefined robot_description (#61)
  • Fixed cmake eigen3 warning (#62)
  • Contributors: Davide Faconti, Ioan A Sucan, Johannes Meyer, Robert Haschke

1.13.2 (2016-06-10)

  • Add target_link_libraries for joint_state_listener library + install it (#54)
  • Contributors: Kartik Mohta

1.13.1 (2016-05-20)

  • Add back future dating for robot_state_publisher (#49) (#51)
  • Fix subclassing test (#48)
  • Support for subclassing (#45)
    • Add joint_state_listener as a library
  • Contributors: Jackie Kay

1.13.0 (2016-04-12)

  • fix bad rebase
  • Contributors: Jackie Kay, Paul Bovbel

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged robot_state_publisher at Robotics Stack Exchange

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/ros/robot_state_publisher.git
VCS Type git
VCS Version jade-devel
Last Updated 2017-02-23
Dev Status MAINTAINED
CI status 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
  • 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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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Name Deps
fanuc_cr35ia_support
fanuc_cr7ia_moveit_config
fanuc_cr7ia_support
fanuc_cr7ial_moveit_config
fanuc_lrmate200i_moveit_config
fanuc_lrmate200i_support
fanuc_lrmate200ib3l_moveit_config
fanuc_lrmate200ib_moveit_config
fanuc_lrmate200ib_support
fanuc_lrmate200ic5h_moveit_config
fanuc_lrmate200ic5l_moveit_config
fanuc_lrmate200ic_moveit_config
fanuc_lrmate200ic_support
fanuc_m10ia_moveit_config
fanuc_m10ia_support
fanuc_m16ib20_moveit_config
fanuc_m16ib_support
fanuc_m20ia10l_moveit_config
fanuc_m20ia_moveit_config
fanuc_m20ia_support
fanuc_m20ib25_moveit_config
fanuc_m20ib_support
fanuc_m430ia2f_moveit_config
fanuc_m430ia2p_moveit_config
fanuc_m430ia_support
fanuc_m6ib6s_moveit_config
fanuc_m6ib_moveit_config
fanuc_m6ib_support
fanuc_m710ic_support
fanuc_m900ia_support
fanuc_m900ib_support
fanuc_r1000ia80f_moveit_config
fanuc_r1000ia_support
fanuc_lrmate200id7l_moveit_config
fanuc_lrmate200id_moveit_config
fanuc_lrmate200id_support
fanuc_r2000ib_support
fanuc_r2000ic_support
fetch_moveit_config
jsk_tilt_laser
pr2eus
pr2eus_openrave
jsk_pcl_ros
robot
moveit_resources_dual_panda_moveit_config
moveit_resources_fanuc_moveit_config
moveit_resources
moveit_resources_panda_moveit_config
moveit_resources_prbt_moveit_config
naoqi_driver
pointgrey_camera_description
hrpsys_ros_bridge
sick_ldmrs_description
sick_ldmrs_tools
uwsim
urdf_tutorial
rwt_moveit
ca_description
dynpick_driver
grizzly_description
hector_quadrotor_gazebo
katana_arm_gazebo
nao_moveit_config
nao_bringup
nao_description
nao_control
pepper_moveit_config
pepper_description
pepper_control
romeo_moveit_config
romeo_description
romeo_control
rsv_balance_description
rsv_balance_gazebo
schunk_canopen_driver
aubo_gazebo
aubo_i5_moveit_config
tetris_gazebo
rail_ceiling
rail_collada_models

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged robot_state_publisher at Robotics Stack Exchange

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/ros/robot_state_publisher.git
VCS Type git
VCS Version indigo-devel
Last Updated 2019-02-08
Dev Status MAINTAINED
CI status 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
  • 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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Dependant Packages

Name Deps
abb_irb2400_moveit_config
abb_irb2400_support
abb_irb5400_support
abb_irb6600_support
abb_irb6640_moveit_config
abb_irb6640_support
ati_force_torque
cartographer_ros
cob_cartesian_controller
cob_obstacle_distance
cob_twist_controller
cob_grasp_generation
cob_moveit_bringup
cob_bringup
cob_hardware_config
cob_gazebo_worlds
denso_robot_moveit_config
fanuc_cr35ia_support
fanuc_cr7ia_moveit_config
fanuc_cr7ia_support
fanuc_cr7ial_moveit_config
fanuc_lrmate200i_moveit_config
fanuc_lrmate200i_support
fanuc_lrmate200ib3l_moveit_config
fanuc_lrmate200ib_moveit_config
fanuc_lrmate200ib_support
fanuc_lrmate200ic5h_moveit_config
fanuc_lrmate200ic5l_moveit_config
fanuc_lrmate200ic_moveit_config
fanuc_lrmate200ic_support
fanuc_m10ia_moveit_config
fanuc_m10ia_support
fanuc_m16ib20_moveit_config
fanuc_m16ib_support
fanuc_m20ia10l_moveit_config
fanuc_m20ia_moveit_config
fanuc_m20ia_support
fanuc_m20ib25_moveit_config
fanuc_m20ib_support
fanuc_m430ia2f_moveit_config
fanuc_m430ia2p_moveit_config
fanuc_m430ia_support
fanuc_m6ib6s_moveit_config
fanuc_m6ib_moveit_config
fanuc_m6ib_support
fanuc_m710ic_support
fanuc_m900ia_support
fanuc_m900ib_support
fanuc_r1000ia80f_moveit_config
fanuc_r1000ia_support
fanuc_lrmate200id7l_moveit_config
fanuc_lrmate200id_moveit_config
fanuc_lrmate200id_support
fanuc_r2000ib_support
fanuc_r2000ic_support
fetchit_challenge
fetch_moveit_config
flir_ptu_driver
flir_ptu_viz
heron_description
husky_description
husky_ur5_moveit_config
jackal_description
jsk_tilt_laser
pr2eus
pr2eus_openrave
jsk_pcl_ros
jsk_rviz_plugins
kobuki_gazebo
robot
tra1_bringup
tra1_description
tra1_moveit_config
mir_description
mir_driver
mir_gazebo
pr2_moveit_config
moveit_resources_dual_panda_moveit_config
moveit_resources_fanuc_moveit_config
moveit_resources
moveit_resources_panda_moveit_config
moveit_resources_prbt_moveit_config
mrp2_bringup
naoqi_driver
play_motion
pointgrey_camera_description
pr2_bringup
raspimouse_control
raspimouse_gazebo
ridgeback_description
hrpsys_ros_bridge
nextage_calibration
nextage_moveit_config
sick_ldmrs_description
sick_ldmrs_tools
sick_tim
sr_edc_controller_configuration
staubli_rx160_moveit_config
staubli_rx160_support
staubli_rx160_gazebo
staubli_tx60_gazebo
staubli_tx60_support
staubli_tx90_gazebo
staubli_tx90_support
uwsim
ur10_moveit_config
ur3_moveit_config
ur5_moveit_config
ur_gazebo
urdf_tutorial
rwt_moveit
warthog_description
xpp_vis
abb_irb120_gazebo
abb_irb120_moveit_config
abb_irb120_support
abb_irb120t_moveit_config
abb_irb4400_support
ca_description
vs060_moveit_config
dynpick_driver
grizzly_description
grizzly_viz
hector_quadrotor_gazebo
industrial_extrinsic_cal
rgbd_depth_correction
innok_heros_description
katana_arm_gazebo
kobuki_softnode
kuka_kr10_support
kuka_kr120_support
kuka_kr150_support
kuka_kr16_support
kuka_kr210_support
kuka_kr3_support
kuka_kr5_support
kuka_kr6_support
kuka_lbr_iiwa_support
motoman_mh5_support
motoman_sda10f_moveit_config
motoman_sda10f_support
motoman_sia10d_support
motoman_sia10f_support
motoman_sia20d_moveit_config
motoman_sia20d_support
motoman_sia5d_support
motoman_bmda3_support
motoman_mh_support
motoman_mpl80_moveit_config
motoman_mpl_support
motoman_sia5d_moveit_config
nao_moveit_config
nao_bringup
nao_description
nao_control
pepper_moveit_config
pepper_description
pepper_control
rb1_base_description
rb1_base_kinova_j2n6a300_moveit_config
rb1_base_control
rbcar_control
roch_bringup
roch_description
roch_gazebo
roch_viz
romeo_moveit_config
romeo_description
romeo_control
roomblock_bringup
roomblock_description
roomblock_mapping
schunk_canopen_driver
summit_x_description
summit_x_control
summit_xl_control
summit_xl_description
turtlebot_bringup
turtlebot_arm_moveit_config
turtlebot_gazebo
calvin_bringup
calvin_gazebo
calvin_moveit_config
cyton_gamma_1500_description
husky_gazebo
jsk_baxter_web
jsk_cobotta_startup
jsk_fetch_gazebo_demo
jsk_kinova_startup
kingfisher_description
kurt_bringup
maxwell_defs
maxwell_moveit_config
hrp2w_moveit_config
samplerobot_moveit_config
staro_moveit_config
segbot_bringup
youbot_gazebo_robot
aubo_gazebo
aubo_i5_moveit_config
carl_description
carl_moveit
cirkit_unit03_description
cirkit_unit03_bringup
cirkit_unit03_gazebo
evarobot_state_publisher
tetris_gazebo
icart_mini_gazebo
stomp_test_kr210_moveit_config
innok_heros_gazebo
jaco_gazebo
jsk_arc2017_baxter
jsk_demo_common
phantomx_reactor_arm_moveit_config
rail_ceiling
rail_collada_models
rb1_jaco_3fg_moveit_config
rb1_mico_3fg_moveit_config
p3dx_urdf_model
schunk_lwa4d
schunk_lwa4d_moveit_config
schunk_lwa4p
schunk_lwa4p_extended
schunk_pg70
schunk_pw70
spur_gazebo
Multicar_moveit_config
widowx_arm_moveit
jaco_description
jaco_moveit_config
mico_description
mico_moveit_config
gazebo_mimic
yumi_control
yumi_moveit_config

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged robot_state_publisher at Robotics Stack Exchange

robot_state_publisher package from robot_state_publisher repo

robot_state_publisher

Package Summary

Tags No category tags.
Version 1.9.12
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/robot_state_publisher.git
VCS Type git
VCS Version hydro-devel
Last Updated 2014-11-30
Dev Status MAINTAINED
CI status