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Package Summary
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
- Author: Wim Meeussen meeussen@willowgarage.com
- License: BSD
- Repository: ros-pkg
- Source: hg https://kforge.ros.org/robotmodel/robot_model
Package Summary
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
- Author: Wim Meeussen meeussen@willowgarage.com
- License: BSD
- Source: hg https://kforge.ros.org/robotmodel/robot_model (branch: robot_model-1.6)
Package Summary
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
- Author: Wim Meeussen meeussen@willowgarage.com
- License: BSD
- Source: hg https://kforge.ros.org/robotmodel/robot_model (branch: robot_model-1.8)
Package Summary
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: Ioan Sucan <isucan AT willowgarage DOT com>
- Author: Wim Meeussen <wim AT willowgarage DOT com>
- License: BSD
- Source: git https://github.com/ros/robot_state_publisher.git (branch: groovy-devel)
Package Summary
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 willowgarage DOT com>
- Author: Wim Meeussen <wim AT willowgarage DOT com>
- License: BSD
- Source: git https://github.com/ros/robot_state_publisher.git (branch: hydro-devel)
Package Summary
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: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
- Author: Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>, Wim Meeussen <wim AT willowgarage DOT com>
- License: BSD
- Source: git https://github.com/ros/robot_state_publisher.git (branch: indigo-devel)
Package Summary
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: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
- Author: Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>, Wim Meeussen <wim AT willowgarage DOT com>
- License: BSD
- Source: git https://github.com/ros/robot_state_publisher.git (branch: jade-devel)
Package Summary
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: Chris Lalancette <clalancette AT osrfoundation DOT org>, Ian McMahon <ian AT ianthe DOT engineer>, Shane Loretz <sloretz AT osrfoundation DOT org>
- Author: Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>, Wim Meeussen <wim AT willowgarage DOT com>
- License: BSD
- Source: git https://github.com/ros/robot_state_publisher.git (branch: kinetic-devel)
Package Summary
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: Chris Lalancette <clalancette AT osrfoundation DOT org>, Ian McMahon <ian AT ianthe DOT engineer>, Shane Loretz <sloretz AT osrfoundation DOT org>
- Author: Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>, Wim Meeussen <wim AT willowgarage DOT com>
- License: BSD
- Source: git https://github.com/ros/robot_state_publisher.git (branch: kinetic-devel)
robot: control_msgs | diagnostics | executive_smach | filters | geometry | joint_state_publisher | kdl_parser | kdl_parser_py | robot_state_publisher | ros_base | urdf | urdf_parser_plugin | xacro
Package Summary
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: Chris Lalancette <clalancette AT osrfoundation DOT org>, Ian McMahon <ian AT ianthe DOT engineer>, Shane Loretz <sloretz AT osrfoundation DOT org>
- Author: Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>, Wim Meeussen <wim AT willowgarage DOT com>
- License: BSD
- Source: git https://github.com/ros/robot_state_publisher.git (branch: melodic-devel)
moveit_resources: joint_state_publisher | moveit_resources_dual_panda_moveit_config | moveit_resources_fanuc_description | moveit_resources_fanuc_moveit_config | moveit_resources_panda_description | moveit_resources_panda_moveit_config | moveit_resources_pr2_description | moveit_resources_prbt_ikfast_manipulator_plugin | moveit_resources_prbt_moveit_config | moveit_resources_prbt_pg70_support | moveit_resources_prbt_support | robot_state_publisher
Package Summary
This package allows you 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. 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: Chris Lalancette <clalancette AT osrfoundation DOT org>, Ian McMahon <ian AT ianthe DOT engineer>, Shane Loretz <sloretz AT osrfoundation DOT org>
- Author: Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>, Wim Meeussen <wim AT willowgarage DOT com>
- License: BSD
- Source: git https://github.com/ros/robot_state_publisher.git (branch: noetic-devel)
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)
The urdf xml robot description. This is accessed via `urdf_model::initParam`
tf_prefix (string)
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.
use_tf_static (bool)
- Set whether to use the /tf_static latched static transform broadcaster. Default: true.
