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unitreerobotics / unitree_ros_to_real

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joint states #45

Open graiola opened 2 years ago

graiola commented 2 years ago

Hi, it is normal that the /joint_states topic is being advertised but not published? ( I am using a go1 robot ) Thank you!

andrewhstovell commented 2 years ago

I think this would be a better question for unitree_ros

From what i can tell from unitree_ros/unitree_gazebo/launch/normal.launch, this topic is used to send current joint state information from the Gazebo ros node (possibly) to RVIZ. 

    <!-- convert joint states to TF transforms for rviz, etc -->
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
          respawn="false" output="screen">
        <remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
    </node>
xyq1223 commented 1 year ago

Hello,you can first source ./devel/setup.bash in the ros workspace, and then use rostopic echo /joint_states.