robot_state_publisher package from robot_state_publisher reporobot_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
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 therobot_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 therobot_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 for package robot_state_publisher
3.0.3 (2024-01-24)
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 astd_msgs/String.msg
. (#9) - Contributors: Brett, Mikael Arguedas
1.13.4 (2017-01-05)
- Use
urdf::*ShredPtr
instead ofboost::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
Package Dependencies
System Dependencies
Dependant Packages
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
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Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
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 therobot_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 therobot_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 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 astd_msgs/String.msg
. (#9) - Contributors: Brett, Mikael Arguedas
1.13.4 (2017-01-05)
- Use
urdf::*ShredPtr
instead ofboost::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
Package Dependencies
System Dependencies
Dependant Packages
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
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
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 therobot_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 therobot_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 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 astd_msgs/String.msg
. (#9) - Contributors: Brett, Mikael Arguedas
1.13.4 (2017-01-05)
- Use
urdf::*ShredPtr
instead ofboost::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
Package Dependencies
System Dependencies
Dependant Packages
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
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
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 therobot_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 therobot_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 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 astd_msgs/String.msg
. (#9) - Contributors: Brett, Mikael Arguedas
1.13.4 (2017-01-05)
- Use
urdf::*ShredPtr
instead ofboost::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
Package Dependencies
System Dependencies
Dependant Packages
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
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
Additional Links
Maintainers
- Chris Lalancette
- Ian McMahon
- Shane Loretz
Authors
- Ioan Sucan
- Jackie Kay
- Wim Meeussen
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 ofboost::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
Package Dependencies
Deps | Name |
---|---|
catkin | |
rosbag | |
rostest | |
kdl_parser | |
rosconsole | |
roscpp | |
rostime | |
sensor_msgs | |
tf | |
tf2_ros | |
tf2_kdl |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
Additional Links
Maintainers
- Karsten Knese
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 for package robot_state_publisher
1.13.4 (2017-01-05)
- Use
urdf::*ShredPtr
instead ofboost::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
Package Dependencies
Deps | Name |
---|---|
geometry_msgs | |
kdl_parser | |
orocos_kdl | |
rclcpp | |
sensor_msgs | |
tf2_ros | |
urdf | |
urdfdom_headers | |
ament_cmake | |
ament_lint_auto | |
ament_lint_common |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
dummy_robot_bringup | |
ros_base |
Launch files
Messages
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
Additional Links
Maintainers
- Karsten Knese
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 for package robot_state_publisher
2.1.0 (2018-06-27)
- The robot model is now published on the
robot_description
topic as astd_msgs/String.msg
. (#9) - Contributors: Brett, Mikael Arguedas
1.13.4 (2017-01-05)
- Use
urdf::*ShredPtr
instead ofboost::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
Package Dependencies
Deps | Name |
---|---|
geometry_msgs | |
kdl_parser | |
orocos_kdl | |
rclcpp | |
sensor_msgs | |
tf2_ros | |
urdf | |
urdfdom_headers | |
ament_cmake | |
ament_lint_auto | |
ament_lint_common |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
dummy_robot_bringup | |
ros_base |
Launch files
Messages
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
Additional Links
Maintainers
- Karsten Knese
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 for package robot_state_publisher
2.1.0 (2018-06-27)
- The robot model is now published on the
robot_description
topic as astd_msgs/String.msg
. (#9) - Contributors: Brett, Mikael Arguedas
1.13.4 (2017-01-05)
- Use
urdf::*ShredPtr
instead ofboost::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
Package Dependencies
Deps | Name |
---|---|
geometry_msgs | |
kdl_parser | |
orocos_kdl | |
rclcpp | |
sensor_msgs | |
tf2_ros | |
urdf | |
urdfdom_headers | |
ament_cmake | |
ament_lint_auto | |
ament_lint_common |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
dummy_robot_bringup | |
ros_base |
Launch files
Messages
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
Additional Links
Maintainers
- Karsten Knese
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 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 astd_msgs/String.msg
. (#9) - Contributors: Brett, Mikael Arguedas
1.13.4 (2017-01-05)
- Use
urdf::*ShredPtr
instead ofboost::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
Package Dependencies
Deps | Name |
---|---|
geometry_msgs | |
kdl_parser | |
orocos_kdl | |
rclcpp | |
sensor_msgs | |
tf2_ros | |
urdf | |
urdfdom_headers | |
ament_cmake | |
ament_lint_auto | |
ament_lint_common |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
Additional Links
Maintainers
- Karsten Knese
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 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 astd_msgs/String.msg
. (#9) - Contributors: Brett, Mikael Arguedas
1.13.4 (2017-01-05)
- Use
urdf::*ShredPtr
instead ofboost::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
Package Dependencies
Deps | Name |
---|---|
geometry_msgs | |
kdl_parser | |
orocos_kdl | |
rclcpp | |
sensor_msgs | |
tf2_ros | |
urdf | |
urdfdom_headers | |
ament_cmake | |
ament_lint_auto | |
ament_lint_common |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
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 therobot_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 therobot_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 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)
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 astd_msgs/String.msg
. (#9) - Contributors: Brett, Mikael Arguedas
1.13.4 (2017-01-05)
- Use
urdf::*ShredPtr
instead ofboost::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
Package Dependencies
System Dependencies
Dependant Packages
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
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
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 therobot_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 therobot_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 for package robot_state_publisher
2.4.5 (2021-08-04)
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 astd_msgs/String.msg
. (#9) - Contributors: Brett, Mikael Arguedas
1.13.4 (2017-01-05)
- Use
urdf::*ShredPtr
instead ofboost::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
Package Dependencies
System Dependencies
Dependant Packages
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
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
Additional Links
Maintainers
- Chris Lalancette
- Ian McMahon
- Shane Loretz
Authors
- Ioan Sucan
- Jackie Kay
- Wim Meeussen
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 ofboost::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
Package Dependencies
Deps | Name |
---|---|
kdl_parser | |
orocos_kdl | |
rosconsole | |
roscpp | |
rostime | |
sensor_msgs | |
tf | |
tf2_ros | |
tf2_kdl | |
catkin | |
rostest |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
Additional Links
Maintainers
- Chris Lalancette
- Shane Loretz
Authors
- Ioan Sucan
- Jackie Kay
- Wim Meeussen
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
Package Dependencies
Deps | Name |
---|---|
kdl_parser | |
orocos_kdl | |
rosconsole | |
roscpp | |
rostest | |
rostime | |
sensor_msgs | |
tf | |
tf2_ros | |
tf2_kdl | |
cmake_modules | |
catkin |
System Dependencies
Name |
---|
eigen |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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
Additional Links
Maintainers
- Chris Lalancette
- Shane Loretz
Authors
- Ioan Sucan
- Jackie Kay
- Wim Meeussen
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
Package Dependencies
Deps | Name |
---|---|
kdl_parser | |
orocos_kdl | |
rosconsole | |
roscpp | |
rostime | |
sensor_msgs | |
tf | |
tf2_ros | |
tf2_kdl | |
cmake_modules | |
catkin | |
tf_conversions | |
rostest |
System Dependencies
Name |
---|
eigen |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged robot_state_publisher at Robotics Stack Exchange
robot_state_publisher package from robot_state_publisher reporobot_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 |