Repository Summary

Checkout URI https://github.com/ros/robot_state_publisher.git
VCS Type git
VCS Version galactic
Last Updated 2021-11-30
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 2.5.2

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

Subscribed Topics

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

Parameters

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

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

Subscribed Topics

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

Parameters

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

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 ros2
Last Updated 2021-11-12
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 2.7.0

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

Subscribed Topics

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

Parameters

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

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 2021-09-30
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
robot_state_publisher 1.15.2

README

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.

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

README

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros/robot_state_publisher.git
VCS Type git
VCS Version ardent
Last Updated 2017-12-09
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
robot_state_publisher 2.0.0

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 bouncy
Last Updated 2018-06-27
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

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 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

No CONTRIBUTING.md found.

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 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

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.

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

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.

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

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.

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

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.

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

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.