robot_state_publisher - Grisson/ros2_learning_notes GitHub Wiki

  • start robot_state_publisher with urdf 
    ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:="$(xacro rrr.urdf)"
    • the first robot_state_publisher is the package name
    • the second robot_state_publisher is the not name
  • It publishes to /robot_description topic
  • It publishes robot states to /tf and /tf_static
  • It subscripts the /joint_state topic which is published by Joint State Publisher