Node to republish in a single topic a set of sensor_msgs/JointState topics. The publication frequency is set by the node and it republishes the last JointState values received. This node ensures that all joint states are published at the same frequency. In case of a topic timeout (time elapsed without receiving a message), the set of joints that are published by this topic are removed from the output message.

• ~source_list (List, default: ) List of topics to be republished. Each item of the list contains the name of the topic and the timeout in seconds.

Example:

source_list:
  - name: /joint_state
    timeout: 1.0
  - name: /joint_state_2
    timeout: 1.0

This node inherits all the parameters of the RComponent base node.

This node subscribes to each topic defined in the source_list parameter.

• ~/joint_states (sensor_msgs/JointState) Output message that contain the concatenation of the joint states received from the source_list parameter.

This node has not service servers.

This node does not call to services.

This node has not action servers.

This node does not call to action servers.

This node does not require transforms.

This node does not provide transforms.

roslaunch robotnik_joint_state_publisher joint_state_publisher.launch