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sr_core: sr_gazebo_sim | sr_hand | sr_hardware_interface | sr_mechanism_controllers | sr_mechanism_model | sr_tactile_sensors | sr_utilities
Package Summary
Documented
sr_utilities contains different useful header libraries (math libraries, etc...).
- Maintainer status: developed
- Maintainer: Shadow Robot's software team <software AT shadowrobot DOT com>
- Author: Ugo Cupcic
- License: GPL
- Bug / feature tracker: https://github.com/shadow-robot/sr-ros-interface/issues
- Source: git https://github.com/shadow-robot/sr_core.git (branch: kinetic-devel)
Contents
Overview
sr_utilities contains a merger for the joint_states. It is a simple and non optimal merger:
- subscribe to two joint_states topics
- when a message is received on one of those topics, wait until another message is received on the second topic.
- when both messages are received, publish the merged message to the output topic.
Please note that the robot_state_publisher should soon implement this feature (with a cleaner implementation), as stated by Wim in the mailing list.
ROS API
Input Topics
The node subscribes to the two topics to merge: /srh/position/joint_states and /sr_arm/position/joint_states. These are hard coded for the time being.
Output Topics
Publishes the merged joint state messages to /position/joint_states.