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.

Getting ready

Like we did in the previous section, we can create each example program in the ROS packages in our workspace individually in the robot_description/src folder with the names mobile_state_publisher.cpp and arm_state_publisher.cpp, or copy them from the chapter6_tutorials packages on GitHub.

The mobile_state_publisher.cpp package should include the following code:

#include <string> 
#include <ros/ros.h> 
#include <sensor_msgs/JointState.h> 
#include <tf/transform_broadcaster.h> 
int main(int...