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) |
Packages
Name | Version |
---|---|
robot_state_publisher | 3.0.3 |
README
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.
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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) |
Packages
Name | Version |
---|---|
robot_state_publisher | 3.2.1 |
README
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.
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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) |
Packages
Name | Version |
---|---|
robot_state_publisher | 3.3.3 |
README
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.
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
Repository Summary
Checkout URI | https://github.com/ros/robot_state_publisher.git |
VCS Type | git |
VCS Version | rolling |
Last Updated | 2024-12-02 |
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) |
Packages
Name | Version |
---|---|
robot_state_publisher | 3.4.1 |
README
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.
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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 | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
robot_state_publisher | 1.15.2 |
README
CONTRIBUTING
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) |
Packages
Name | Version |
---|---|
robot_state_publisher | 2.1.0 |
README
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.
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
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) |
Packages
Name | Version |
---|---|
robot_state_publisher | 2.3.1 |
README
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.
CONTRIBUTING
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) |
Packages
Name | Version |
---|---|
robot_state_publisher | 2.2.5 |
README
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.
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
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) |
Packages
Name | Version |
---|---|
robot_state_publisher | 2.5.3 |
README
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.
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
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) |
Packages
Name | Version |
---|---|
robot_state_publisher | 2.4.5 |
README
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.
CONTRIBUTING
Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.
Repository Summary
Checkout URI | https://github.com/ros/robot_state_publisher.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2019-08-27 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
robot_state_publisher | 1.13.7 |
README
CONTRIBUTING
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 | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
robot_state_publisher | 1.12.2 |
README
CONTRIBUTING
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 | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
robot_state_publisher | 1.11.2 |
README
CONTRIBUTING
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 | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
robot_state_publisher | 1.9.12 |
README
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/ros/robot_state_publisher.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2019-08-27 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
robot_state_publisher | 1.13.7 |
README
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/ros/robot_state_publisher.git |
VCS Type | git |
VCS Version | melodic-devel |
Last Updated | 2020-10-05 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
robot_state_publisher | 1.14.1 |