Documentation Status

robot_model: collada_parser | collada_urdf | colladadom | convex_decomposition | ivcon | kdl_parser | resource_retriever | robot_state_publisher | simmechanics_to_urdf | urdf | urdf_interface | urdf_parser

Package Summary

Documented

This package allows you to publish the state of a robot to tf. Once the state gets published, it is available to all components in the system that also use tf. 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. The package can both be used as a library and as a ROS node. This package has been well tested and the code is stable. No major changes are planned in the near future

robot_model: collada_parser | collada_urdf | colladadom | convex_decomposition | ivcon | kdl_parser | resource_retriever | robot_state_publisher | simmechanics_to_urdf | srdf | urdf | urdf_interface | urdf_parser

Package Summary

Documented

This package allows you to publish the state of a robot to tf. Once the state gets published, it is available to all components in the system that also use tf. 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. The package can both be used as a library and as a ROS node. This package has been well tested and the code is stable. No major changes are planned in the near future

robot_model: angles | assimp | collada-dom | collada_parser | collada_urdf | common_msgs | convex_decomposition | curl | geometry | graphviz | ivcon | kdl_parser | orocos_kdl | resource_retriever | robot_state_publisher | ros | ros_comm | rosconsole_bridge | srdf | urdf | urdf_interface | urdf_parser | urdfdom | urdfdom_headers

Package Summary

Released Continuous integration Documented

This package allows you to publish the state of a robot to tf. Once the state gets published, it is available to all components in the system that also use tf. 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. The package can both be used as a library and as a ROS node. This package has been well tested and the code is stable. No major changes are planned in the near future

Package Summary

Released Continuous integration Documented

This package allows you to publish the state of a robot to tf. Once the state gets published, it is available to all components in the system that also use tf. 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. The package can both be used as a library and as a ROS node. This package has been well tested and the code is stable. No major changes are planned in the near future

Package Summary

Released Continuous integration Documented

This package allows you to publish the state of a robot to tf. Once the state gets published, it is available to all components in the system that also use tf. 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. The package can both be used as a library and as a ROS node. This package has been well tested and the code is stable. No major changes are planned in the near future

  • Maintainer status: maintained
  • Maintainer: Ioan Sucan <isucan AT google DOT com>, Jackie Kay <jackie AT osrfoundation DOT org>
  • Author: Wim Meeussen <wim AT willowgarage DOT com>
  • License: BSD
  • Source: git https://github.com/ros/robot_state_publisher.git (branch: indigo-devel)

Package Summary

Released Continuous integration Documented

This package allows you to publish the state of a robot to tf. Once the state gets published, it is available to all components in the system that also use tf. 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. The package can both be used as a library and as a ROS node. This package has been well tested and the code is stable. No major changes are planned in the near future

  • Maintainer status: maintained
  • Maintainer: Ioan Sucan <isucan AT google DOT com>, Jackie Kay <jackie AT osrfoundation DOT org>
  • Author: Wim Meeussen <wim AT willowgarage DOT com>
  • License: BSD
  • Source: git https://github.com/ros/robot_state_publisher.git (branch: jade-devel)
robot: control_msgs | diagnostics | executive_smach | filters | geometry | robot_model | robot_state_publisher | ros_base | xacro

Package Summary

Released Continuous integration Documented

This package allows you to publish the state of a robot to tf. Once the state gets published, it is available to all components in the system that also use tf. 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. The package can both be used as a library and as a ROS node. This package has been well tested and the code is stable. No major changes are planned in the near future

  • Maintainer status: maintained
  • Maintainer: Ioan Sucan <isucan AT google DOT com>, Jackie Kay <jackie AT osrfoundation DOT org>
  • Author: Wim Meeussen <wim AT willowgarage DOT com>
  • License: BSD
  • Source: git https://github.com/ros/robot_state_publisher.git (branch: kinetic-devel)

frames4.png

Overview

robot_state_publisher uses the URDF specified by the parameter robot_description and the joint positions from the topic joint_states to calculate the forward kinematics of the robot and publish the results via tf.

Please see the tutorial on using the robot state publisher on your own robot. It will explain how you can publish the state of your robot to tf, using the robot state publisher.

Note: All fixed transforms are future dated by 0.5s.

state_publisher node

ROS API

Subscribed topics

joint_states (sensor_msgs/JointState)

  • joint position information

Parameters

robot_description (urdf map)

tf_prefix (string)

  • Set the tf prefix for namespace-aware publishing of transforms. See tf_prefix for more details.

publish_frequency (double)

  • Publish frequency of state publisher, default: 50Hz.

ignore_timestamp (bool)

  • If true, ignore the publish_frequency and the timestamp of joint_states and publish a tf for each of the received joint_states. Default is "false".

use_tf_static (bool)

  • Set whether to use the /tf_static latched static transform broadcaster, default: false.

Wiki: robot_state_publisher (last edited 2016-10-20 21:08:02 by WilliamWoodall)