<<PackageHeader(sr_utilities)>>
<<TOC(4)>>




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## CategoryPackage

== Overview ==
sr_utilities contains a merger for the joint_states. It is a simple and non optimal merger: 
 * subscribe to two joint_states topics
 * when a message is received on one of those topics, wait until another message is received on the second topic.
 * when both messages are received, publish the merged message to the output topic.

Please note that the robot_state_publisher should soon implement this feature (with a cleaner implementation), as stated by Wim in the [[http://ros-users.122217.n3.nabble.com/merging-different-joint-states-td2289189.html|mailing list]].

== ROS API ==
=== Input Topics ===
The node subscribes to the two topics to merge: '''/srh/position/joint_states''' and '''/sr_arm/position/joint_states'''. These are hard coded for the time being.

=== Output Topics ===
Publishes the merged joint state messages to '''/position/joint_states'''.