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출처

Robot State Publisher vs. Joint State Publisher

요약

robot_state_publisher는 링크들의 상태를 업데이트한다고 생각하면 되며,

joint_state_publisher는 링크 사이에 존재하는 조인트를 업데이트 하는것.

굉장히 비슷해보이지만 ROS 시스템에서 이들을 정의하고 실제 시뮬레이터 환경에서 어떻게 처리하는지를 요약하면 다음과 같다.

이 내용이 진짜 중요함. [joint_publisher] -> (/joint_states) -> [robot_state_publisher] -> (/tf, /tf_static, /robot_description)) -> [rviz] 출처 :

Why isn't rviz2 responding to my publisher node? - ROS Answers: Open Source Q&A Forum

Robot State Publisher vs. Joint State Publisher

In this post, I will explain the difference between the Robot State Publisher and the Joint State Publisher ROS packages.

In order to understand the difference between the packages, it is important you first understand that every robot is made up of two components:

1. Joints
2. Links

Links and Joints in Robotics

Links are the rigid pieces of a robot. They are the “bones”.