Publish JointState messages for the wheels #26
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| @@ -49,6 +49,12 @@ CreateDriver::CreateDriver(ros::NodeHandle& nh) : nh_(nh), priv_nh_("~") | |||
| tf_odom_.child_frame_id = str_base_footprint; | |||
| odom_msg_.header.frame_id = "odom"; | |||
| odom_msg_.child_frame_id = str_base_footprint; | |||
| joint_state_msg_.name.resize(2); | |||
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should we populate header.frame_id too? I'm not familiar with joint_state_publisher
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joint_state_publisher doesn't do it, so I don't think it's necessary.
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Looks good. I'll try it out next week 👍 I guess you should update the calls to get velocity to reflect changes in libcreate |
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I squashed the commits, renamed the methods, updated the README and stored the radius in a variable. |
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Please update the git tag in CMakeLists.txt to |
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This PR adds support for publishing JointState messages for the wheels on the Create. This allows robot_state_publisher to generate transforms for the wheels. These messages could also allow other nodes to access the velocities of the wheels.
This fixes #25.
To support these changes, AutonomyLab/libcreate#19 must be merged.