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sr_utilities contains a merger for the joint_states. It is a simple and non optimal merger:

Please note that the robot_state_publisher should soon implement this feature (with a cleaner implementation), as stated by Wim in the mailing list.


Input Topics

The node subscribes to the two topics to merge: /srh/position/joint_states and /sr_arm/position/joint_states. These are hard coded for the time being.

Output Topics

Publishes the merged joint state messages to /position/joint_states.

2024-06-15 13:47