ROS Programming: Building Powerful Robots

Adding joint state publishers in the launch file

After adding the differential drive plugin, we need to joint state publishers to the existing launch file, or we can build a new one. You can see the new final launch file: diff_wheeled_gazebo_full.launch from chapter_3_code/diff_wheeled_robot_gazebo/launch.

The launch file contains joint state publishers, which help to visualize in RViz. Here are the extra lines added in this launch file for the joint state publishing:

 <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> <!-- start robot state publisher --> <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen" > <param name="publish_frequency" ...