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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 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.


2024-06-15 13:00