## repository: https://code.ros.org/svn/ros-pkg
<<PackageHeader(robot_state_publisher)>>

<<TOC(5)>>

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== 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 [[robot_state_publisher/Tutorials/Using the robot state publisher on your own robot|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 [[tf/FAQ#Why_do_I_see_negative_average_delay_in_tf_monitor.3F|future dated]] by 0.5s.

== state_publisher node ==
=== ROS API ===
##apistart
==== Subscribed topics ====
`joint_states` (<<MsgLink(sensor_msgs/JointState)>>)

 . joint position information

==== Parameters ====
`robot_description` (`urdf map`)

 . The [[urdf]] xml robot description. This is accessed via [[http://docs.ros.org/api/urdf/html/classurdf_1_1Model.html#a0e3b0a0974fb948dd9228c50c5d6783c|`urdf_model::initParam`]]

`tf_prefix` (`string`)

 . Set the [[tf]] prefix for namespace-aware publishing of transforms. See [[tf/Theory|tf_prefix]] for more details.

`publish_frequency` (`double`)

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

{{{#!wiki version kinetic_and_newer
`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".
}}}

{{{#!wiki version indigo
`use_tf_static` (`bool`)
  Set whether to use the /tf_static latched static transform broadcaster. Default: false.
}}}

{{{#!wiki version jade_and_newer
`use_tf_static` (`bool`)
  Set whether to use the /tf_static latched static transform broadcaster. Default: true.
}}}
##apiend
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## CategoryPackage
## CategoryPackageROSPKG