wiki:Plugins/robot-state-publisher
Last modified 5 years ago Last modified on 02.06.2014 11:13:33

robot-state-publisher

This plugin reads a URDF model and publishes all transforms which are part of the model. In order to publish transforms for movable joints, the plugin watches the blackboard for JointInterfaces which match Joints in the model.

Requires

  • plugin kdl_parser, which is currently available in the branch thofmann/kdl_parser
  • URDF model file
  • Fedora package orocos-kdl. Note that orocos-kdl is not yet available in the Fedora repositories

Config

PathTypeDescriptionDefault
/robot_state_publisher/urdf_filestringpath to the URDF file"./res/urdf/caesar.urdf"

Provides

For every joint, a transform is published from the parent origin to the child origin.