When using the robot_state_publisher (which is used frequently to publish the TFs of a robot) one needs joint states as sensor_msgs JointState. I created a package based on this code, which republishes the dynamixel JointState messages as sensor_msgs JointState messages.
This package can be found here:
https://github.com/RobotRose/dynamixel_joint_state_publisher
It may be a good idea to integrate this package into dynamixel_motor?
Or it may be a better solution to do the publishing of sensor_msgs JointState directly (in parallel to the dynamixel messages)?
When using the robot_state_publisher (which is used frequently to publish the TFs of a robot) one needs joint states as
sensor_msgs JointState. I created a package based on this code, which republishes thedynamixel JointStatemessages assensor_msgs JointStatemessages.This package can be found here:
https://github.com/RobotRose/dynamixel_joint_state_publisher
It may be a good idea to integrate this package into dynamixel_motor?
Or it may be a better solution to do the publishing of
sensor_msgs JointStatedirectly (in parallel to the dynamixel messages)?