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Hi all, I have to set a default value in my launch file containing a joint_state_publisher. I saw in the documentation that there is a parameter "zeros" to do it but I can not figure how to use it. If I have two joints named "joint0" and "joint1" and my default value is 0.7 for both, how have I to write the launch file? Thanks


Originally posted by Enrico on ROS Answers with karma: 41 on 2014-12-06

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Comment by Enrico on 2014-12-09:
If someone can point to me an example launch file I will check it, thanks.

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Specify the zeros dictionary at the root namespace, (I don't know why joint_state_publisher does not use the node's private one, but that's how it is). In yaml syntax, this should be (untested):

zeros:
  foo_joint: 1.0
  bar_joint: -1.0

If it doesn't work, ask the source.


Originally posted by Adolfo Rodriguez T with karma: 3907 on 2014-12-10

This answer was ACCEPTED on the original site

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Comment by Enrico on 2014-12-10:
Thx Adolfo! I'll try and let you know!

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