I am working on a 7-DOF manipulator with MoveIt and have calculated a series of joint vectors. I want to publish these joint vectors to the **joint states topic** so as to see the visualization in Rviz. However, after the implementation I did see the visualization in Rviz but there were "jumping backs" to the original manipulator configuration from time to time. I went into the problem and found that the correct messages were being published to the **joint states topic**, but **robot_state_publisher** was not receiving these messages, so no new tfs were updated (the manipulator still stayed at the original configuration, I think this is why there were "jumping backs") .
As a test, I used the **joint_state_publisher GUI** to publish messages to the **joint states topic** and I did see tf updates from **robot state publisher**. So what I do not understand is why publishing using GUI results in new tfs but publishing using codes does not.
I checked and ensured there were **joint_state_publisher** and **robot_state_publisher** nodes running and **robot_state_publisher** node did subscribe to the **joint states topic**.
Any ideas would be greatly appreciated!
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