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robot_model: assimp | collada_urdf | colladadom | convex_decomposition | ivcon | kdl_parser | resource_retriever | robot_state_publisher | urdf

Package LinksDependencies (5)
Used by (16)

Package Summary

No API documentation

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 | urdf | urdf_interface | urdf_parser
Package LinksDependencies (5)
Used by (29)

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 LinksDependencies (5)
Used by (39)

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 LinksDependencies (9)
Used by (54)

Package Summary

Released
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 LinksDependencies (10)
Used by (100)

Package Summary

Released
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: control_msgs | diagnostics | executive_smach | filters | geometry | robot_model | robot_state_publisher | ros_base | xacro
Package LinksDependencies (12)
Used by (227)

Package Summary

Released
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: 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 LinksDependencies (12)
Used by (54)

Package Summary

Released
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: 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)
robot: control_msgs | diagnostics | executive_smach | filters | geometry | robot_model | robot_state_publisher | ros_base | xacro
Package LinksDependencies (10)
Used by (246)

Package Summary

Released
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: 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 | robot_model | robot_state_publisher | ros_base | xacro
Package LinksDependencies (10)
Used by (23)

Package Summary

Released
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: 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)
moveit_resources: joint_state_publisher | moveit_resources_fanuc_description | moveit_resources_fanuc_moveit_config | moveit_resources_panda_description | moveit_resources_panda_moveit_config | moveit_resources_pr2_description | robot_state_publisher

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 LinksDependencies (10)
Used by (170)
Jenkins jobs (6)

Package Summary

Released
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: 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)
robot: control_msgs | diagnostics | executive_smach | filters | geometry | joint_state_publisher | kdl_parser | robot_state_publisher | ros_base | urdf | urdf_parser_plugin | xacro

moveit_resources: joint_state_publisher | moveit_resources_fanuc_description | moveit_resources_fanuc_moveit_config | moveit_resources_panda_description | moveit_resources_panda_moveit_config | moveit_resources_pr2_description | robot_state_publisher
Package LinksDependencies (9)
Used by (51)
Jenkins jobs (10)

Package Summary

Released
Documented

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)

Contents

  1. Overview
  2. state_publisher node
    1. ROS API
      1. Subscribed topics
      2. Parameters

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)

Parameters

robot_description (urdf map)

tf_prefix (string)

publish_frequency (double)

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.

2022-05-28 12:56