Questions tagged [robot-state-publisher]

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/tf topic is not published with specified namespace

I am working on a project involving multiple TurtleBots, using Ubuntu 22.04 and ROS2 Humble. I would like to control them individually by running a separate navigation stack (with unique namespace) ...
firthc's user avatar
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3 answers
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tf-prefix problem in turtlebot3 (ROS2 Foxy)

I am trying to namespace the topic, nodes and tf frames of a turtlebot3 to use it for multirobot experiment. So, i created a rsp.launch.py file to just publish the robot description at first using the ...
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Error: link 'boggiesidelegl_1' is not unique

I am using ubuntu 22.04 ROS2 HUMBLE i used https://github.com/dheena2k2/fusion2urdf-ros2/tree/master to create a urdf for my project. when i try running ros2 launch mars_description display.launch.py, ...
aman noufel's user avatar
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How to model underactuated joint to extract the angle for controll?

Assume if I have a pendulum on a robot cart or a trailer on a robot. These are system which passivly follow the robot. If you want to control them how do you access the angle? I have investigated this ...
Hamzalihi's user avatar
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1 answer
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How can I use an SDF instead of a URDF with gazebo in ros2 humble?

Im using Gazebo 11 on ROS2 Humble. I want to use an existing model of the polaris_ranger_xp900, by Cole Biesemeyer and Nate Koenig. I want to spawn the model, add some ackerman gazebo plugins (maybe ...
oferb's user avatar
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robot_state_publisher service not available, but listed in service list

I'm trying to update a ROS2 package working on Foxy with Turtlebot3 to Humble with Turtlebot4. So I'm sure my code is working there. While starting a gazebo simulation with a script (that works on ...
robot_lab's user avatar
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1 answer
39 views

Invalid frame ID even if the TF tree is produced correctly

I am having a hard time understanding the production of the TF tree. I have a robot which is visualized correctly both on Rviz and Gazebo. The transmissions and gazebo plugins work fine such that I ...
TheClem's user avatar
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1 answer
286 views

Unable to parse URDF using command line but can do it in launch file

Hi, I am beginning to learn ROS and have encountered a strange issue. I have created 2 packages called, my_first_cpp_pkg and urdf_example, which contain xacro xmls of their own for URDF creation. I am ...
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1 answer
4 views

URDF/RobotModel + joint states to tf robot states in a function call?

Is there a way to get all the functionality of robot_state_publisher in a function call? I want to be able to get transforms within a robot model given hypothetical joint positions in a fast loop, so ...
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Get correct tf from robot_state_publisher

Question: How do I get the correct tf from robot_state_publisher? Details and background: I have a urdf file (snippet shown below) describing a joint: ...
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1 answer
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robot_state_publisher and joint_state_publisher in launch file

Hi everyone, I personally got stuck when setting up my robot. I followed the tutorial and by the end it seems to work. Now I want to launch only the EKF from robot_localization package (which works) ...
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1 answer
136 views

No link elements found in urdf file

Hi, I'm new to ROS and am trying to follow this tutorial: https://github.com/Apress/Robot-Operating-System-Abs-Begs/tree/master/chapter_6/mobile_robot_description I am running Ubuntu 20.04 + ROS ...
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1 answer
65 views

[ROS2] tf2 "authority undetectable" / "no authority available"

I'm playing around with tf2 in ROS2 Foxy using a Gazebo simulated robot, and get warning messages regarding the tf2 "authority". For instance, running ...
shonigmann's user avatar
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1 answer
29 views

Why is robot_state_publisher not publishing correct tf transforms?

I am trying to use the robot_state_publisher to publish transforms between my links. My launch file is: ...
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1 answer
11 views

Issues utilizing xacro properties

launch file ...
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1 answer
53 views

Transform from ____ to ____ was unavailable for the time requested. Using latest instead

When I run robot_localization in simulation I get the following warning every 2 seconds ...
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1 answer
75 views

Cannot locate node of type [state_publisher]

Currently running ROS Noetic (installed with apt) on Debian 10, I tried to follow the URDF tutorial : http://wiki.ros.org/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher. However I get the ...
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1 answer
10 views

Husky Gazebo robot_state_publisher not broadcasting transforms

I'm trying to record a bag from the Husky Gazebo simulation for Cartographer SLAM on Kinetic and Ubuntu 18.04 VM. The problem I'm facing is that some of the TF transforms are not being included in the ...
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2 answers
35 views

Adjust robot_state_publisher publish frequency

Hello, I was working with my URDF model and the robot_state_publisher and I noticed that: for the fixed joints, the tf is computed at the beginning and has no ...
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2 answers
31 views

How to control a real robot and simulate it in Gazebo at the same time?

We created a hardware interface and controllers that we will be using for a real robot. The problem is, whenever we load Gazebo and our own custom controller manager, Gazebo unsubscribes from the '...
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1 answer
101 views

Joint State Publisher produces empty messages

Hello, This questions can be split into two: The first one. I am currently using in my URDF in Gazebo a ROS_control controller to control the platform wheels (velocity and position interface) and I am ...
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1 answer
3 views

Omit branches from the tf tree

Hello, using a URDF, the robot_state_publisher constructs the tf tree which is published in the relative topic. Is there any way to choose which branches of the tf tree are being published without ...
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1 answer
15 views

Could not load the file sensor_msgs/JointState.h

Hi, I have an error with the package robot_state_publisher when I'm try to catkin_make_isolated with ...
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2 answers
38 views

robot_state_publisher has died, joint_state_publisher has died

Hello, I am currently learning urdf and am trying to make a two wheeled robot. I created a base link (chassis) and am trying to visualize it in rviz. To run the urdf file, i have also created a launch ...
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1 answer
27 views

Cartographer SLAM - TF Tree Errors

Hi everyone, I am completely stuck on a tf problem. What I try to do is slam with a laser sensor and an imu with cartographer_ros. According to the related tutorial, I define my physical layout of the ...
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1 answer
22 views

Can anyone help me solve the error related to robot_description on parameter server?

The error exactly is ...
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1 answer
31 views

rosrun: unable to locate the node robot_state_publisher

The exact error I am having is ...
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1 answer
8 views

RVIZ visualize the data in the different plane. How to fix that?

I have set up an environment in gazebo with Kinect sensor. Sensor position and the joint is fine. But I visualize the pointcloud data in Rviz it is showing in XZ ...
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1 answer
33 views

Unable to move the arm through Moveit...Error:Maybe failed to update robot state, time diff: 0,822s

Hi, I am trying to control gazebo simulated arm mounted on mobile base through moveit. When I try to execute the trajectories after setting starting and goal positions, I am getting "Maybe failed ...
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1 answer
7 views

robot_state_publisher posting wrong tf tree (missing connections)

Dear ROS community, I have the following problem: I'm trying to simulate a robotic leg using ROS kinetic and Gazebo. In order to get information about the current frame of each link I'm using the <...
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1 answer
2 views

URDF model frames not published properly by robot_state_publisher

Hi. I'm struggling with getting a URDF (or XACRO file to be exact) working with the robot_state_publisher. I know that it has been working when I made the file originally, but after updating and ...
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1 answer
16 views

Get link absolute orientation - IMU position

Can anyone advise how to calculate the quaternion orientation of a link? I'm following a somewhat unconventional approach and using an IMU that outputs it's absolute quaternion to measure the position ...
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1 answer
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model.xml missing in Using urdf with robot_state_publisher

Hi, I am trying to follow the Using urdf with robot_state_publisher tutorial. The required model.xml file mentioned in turial is missing. Is there any way it can be obtained? Originally posted by ...
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1 answer
65 views

Publishing joint_state with python and displaying in rviz

Hey Guys, I'm have a robot arm I'm trying to put into ros. I went through the urdf_tutorial and got a urdf that works with the tutorial launch file. Now, I want to write a node that publishes to /...
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1 answer
21 views

joint state publisher and robot state publisher

What is the difference between joint_state_publisher and robot_state_publisher? I understand that I get robot state publisher ...
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0 votes
1 answer
3 views

How to move mobile robot in rviz

Hello, I am sorry for being naive. I have GPS sensor information from a moving car. I have URDF model of a robot with four wheels. All joints are fixed (wheel to base_link). I want to move the robot ...
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1 answer
4 views

static_transform_publisher and robot_state_publisher

Hello, I am a bit confused about the static_transform_publisher and the robot_state_publisher (or at least I think I am). So we ...
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0 votes
1 answer
1 view

Ros Jade Osx - compiler error robot_state_publisher

Hi @all i would like to install ros jade on osx. i know that is in experimental state but there's no other way. in package robot_state_publisher an error is generated. ...
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1 answer
20 views

robot_state_publisher design: multiple publishers on /joint_states ok?

Is robot_state_publisher designed to handle multiple sources of /joint_state information? For example, let's say I have the R2D2-like robot from this tutorial. If I have one node publishing the state ...
Rick's user avatar
  • 249
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1 answer
10 views

URDF and joint_state_publisher

Hi, I'm trying to create a new robot model that implements a LIDAR and a camera, all of that using rtabmap_ros. In order to do that, I created the following basic URDF: ...
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1 answer
6 views

Unable to start robot state publisher due to missing library

When I try to launch robot_state_publisher with the launch file: ...
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0 votes
1 answer
18 views

How to visualize a real robot in Rviz

How do you run Rviz so that it shows the joint positions of a real robot in real-time? I've written a URDF file descibing a simple 2-wheeled cylindrical robot with a pan/tilt head, and I can visualize ...
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0 votes
1 answer
9 views

tf_prefix and tf2_web_republisher (URDF visualization in browser)

Hello everybody ! I have manage to display my custom urdf file in my browser by using this tutorial. However, when I run what I've done alongside my actual robot (or simulation), the visualization ...
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1 answer
1 view

How to print pose of a robot using robot_state_publisher

Hi, I want to print the pose of my robot using robot_state_publisher. I am adding the following code in my launch file ...
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1 answer
1 view

Empty transforms using Robot State Publisher

Hi guys, I'm trying to broadcast moving joint states using my robot state publisher. I echoed the topic on which I broadcast my state, all I get is : ...
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0 votes
1 answer
6 views

robot_state_publisher, for gazebo only or for actual robot?

Hi all The robot_state_publisher publishes transform (which is usually based on the URDF file specified). But when we are talking about the URDF file, we are usually talking about Gazebo, which is for ...
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1 answer
3 views

reload urdf for robot_state_publisher?

I am currently improving the calibration procedure for my robot and create an urdf-file according to some calibration values. After I have measured a new value (e.g. maximal position for an axis), I ...
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0 votes
1 answer
6 views

Is there a environmental variable for current namespace in launchfiles?

Hi, I have created an multirobot launch for Gazebo. Now I found out that there is a solvable problem with the namespace in the robot state publisher. I solved it with adding a tf_prefix. But now here ...
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1 answer
1 view

Robot_state_publisher dies on ARM-based Turtlebot

Whenever I run roslanch turtlebot_bringup minimal.launch I get the following error: ...
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1 answer
5 views

Robot state publisher has died error code -7

Hi, recently I upgraded my ODROID XU3 using apt-get and since then I haven't been able to launch robot state publisher which is crucial for my finals project. Whenever I want to launch my launch file, ...
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