Hi,
I found the message definition sensor_msgs/MultiDOFJointState and was expecting robot_state_publisher to also support it:
https://github.com/ros/common_msgs/blob/jade-devel/sensor_msgs/msg/MultiDOFJointState.msg
What I had in mind was that the node would populate TF with the current transforms taking the respective frame_ids from the URDF. When searching the repository, however, I could not find any usage of this message definition:
https://github.com/ros/robot_state_publisher/blob/kinetic-devel/include/robot_state_publisher/joint_state_listener.h
Do I see this correctly that robot_state_publisher does not support this message definition?
If not,
1. is there an established good practice of using multi-DOF joints with robot_state_publisher?
2. is there a good reason that speaks against adding support for sensor_msgs/MultiDOFJointState to robot_state_publisher?
Best,
Georg.
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