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Robot Operating System Cookbook by Kumar Bipin

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Understanding the joint state publisher and the robot state publisher

At this moment in time, we have 3D models of robots which can be visualized in rviz. Consequently, in this section, we will learn how to control and move the robot model using the ROS node. The ROS framework provides great tools to control the robots, such as the ros_control package. Similarly, other primary tools to control the robots are the joint_state_publisher and robot_state_publisher packages.

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