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 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: wg-kforge
• Source: hg https://kforge.ros.org/robotmodel/robot_model

Overview

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.

robot_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

tf_prefix (string)

• Set the tf prefix for namespace-aware publishing of transforms. See tf_prefix for more details.