Set JointStateController to Publish Joint States Under Provided Namespace

[Ryan Keating]

Hey everyone,

Is there currently a way to get the JointStateController to publish to a topic other than /joint_states (e.g. /gazebo/joint_states)? I tried topic remapping and launching the controller manager under the desired namespace, but neither worked.

I ask because I want to use a joint_state_publisher to repackage joint states published under various namespaces (e.g. for each gripper in the system) onto the /joint_states topic, but as a result I have two publishers on /joint_states. This makes it hard to visualize joint values in rqt_plot (due to the fact that /joint_states/position[i] is not always the same joint). See attached image.

Thanks,

Ryan

[Ryan Keating]

After looking at this a bit more I realized it was super easy to implement this behavior inside the JointStateController. I'll submit a PR.