Overview

The robot_state_controller uses the URDF specified by the parameter robot_description and the joint positions from the hardware_interface::JointStateInterface to calculate the forward kinematics of the robot and publish the results via tf, and reads and manages the external incoming tf.

keywords: ROS, urdf, transformation, joint

License

The source code is released under a BSD 3-Clause license.

Author: DynamicX
Affiliation: DynamicX
Maintainer: DynamicX

The robot_state_controller package has been tested under ROS Melodic and Noetic on respectively 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Hardware interface type

JointStateInterface Used to get the positions of different joints.
RobotStateInterface Used to obtain and maintain the transformation relationship of each link of the entire robot.

Installation

Installation from Packages

To install all packages from this repository as Debian packages use

sudo apt-get install ros-noetic-robot-state-controller

or better use rosdep:

sudo rosdep install --from-paths src

Dependencies

roscpp
rm_common
controller_interface
tf2_kdl
kdl_parser
realtime_tools

ROS API

Subscribed Topics

tf (tf2_msgs/TFMessage)

Obtain and manage maintenance real-time transformation information.
tf_static(tf2_msgs/TFMessage)

Obtain and manage maintenance static transformation information.

Parameters

publish_rate (double)

Publish frequency of state publisher, default: 50Hz.
use_tf_static (bool)

Set whether to use the /tf_static latched static transform broadcaster.Default: true.
ignore_timestamp (bool)

If true, ignore the publish_frequency and the timestamp of joint_states and publish a tf for each of the received joint_states. Default: false.
buffer_duration (double)

The time to keep a history of transforms.
robot_description (string)

The urdf xml robot description.

Complete description

robot_state_controller:
  type: robot_state_controller/RobotStateController
  publish_rate: 100

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.