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.