Previously the states of hand joint were published as dummy angles using hand_joint_state_publisher.py and do not follow the real state.
In this PR, hand-joint-state-publisher.l publishes the real hand-joint states. The real states are published if you set publish_real_hand_joint_state to true in a launch file. The real_hand_joint_state_rate sets the publish rate.
The actual angles followed are shown below. In this experiment, the actual robot is taking the start-grasp pose.
(before)The hand displayed in rviz does not reflect the actual angle, but always displays the angle published in dummy.
(after)The hand displayed in rviz now reflects the actual angle.
Previously the states of hand joint were published as dummy angles using hand_joint_state_publisher.py and do not follow the real state. In this PR,
hand-joint-state-publisher.lpublishes the real hand-joint states. The real states are published if you setpublish_real_hand_joint_stateto true in a launch file. Thereal_hand_joint_state_ratesets the publish rate. The actual angles followed are shown below. In this experiment, the actual robot is taking thestart-grasppose.(before)The hand displayed in rviz does not reflect the actual angle, but always displays the angle published in dummy.
(after)The hand displayed in rviz now reflects the actual angle.