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 :
transforms: []
---
Here's my code section responsible for broadcasting the state :
auto transforms = std::map();
while (publish) {
transforms.insert(std::make_pair("base_link", controller->getJointCurrentAngle(
Controller::JOINT_ID(Controller::JOINT::BASE_JOINT_ID))));
transforms.insert(std::make_pair("joint_1", controller->getJointCurrentAngle(
Controller::JOINT_ID(Controller::JOINT::SHOULDER_JOINT_ID))));
transforms.insert(std::make_pair("joint_2", controller->getJointCurrentAngle(
Controller::JOINT_ID(Controller::JOINT::ELBOW_JOINT_ID))));
transforms.insert(std::make_pair("joint_3", controller->getJointCurrentAngle(
Controller::JOINT_ID(Controller::JOINT::WRIST_JOINT_ID))));
publisher.get()->publishTransforms(transforms,ros::Time::now(),"");
transforms.clear();
usleep(1000);
}
When I use publishFixedTransform("") instead of publishTransforms, I get my transforms correctly published to the topic, but I cannot move them since I use a KDL tree from an URDF file to create my robot model.
Do you guys have any tip of what I'm doing wrong ?
Thanks !
↧