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add 'relay_sources' option #108

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add 'relay_sources' option #108

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f7d2a2c
add 'relay_sources' option
rob9315 Jan 5, 2025
6feecfe
remove whitespace (linter)
rob9315 Jan 5, 2025
eb22836
Actually default to False
rob9315 Jan 14, 2025
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1 change: 1 addition & 0 deletions joint_state_publisher/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@ Parameters
* `use_mimic_tags` (bool) - Whether to honor `<mimic>` tags in the URDF. Defaults to True.
* `use_smallest_joint_limits` (bool) - Whether to honor `<safety_controller>` tags in the URDF. Defaults to True.
* `source_list` (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type `sensor_msgs/msg/JointStates`. Publication to that topic will update the joints named in the message. Defaults to an empty array.
* `relay_sources` (bool) - Whether to immediately republish messages coming in on topics from `source_list`. Makes for smoother joints sometimes. Defaults to False.
* `delta` (double) - How much to automatically move joints during each iteration. Defaults to 0.0.

#### Mapped Parameters
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5 changes: 5 additions & 0 deletions joint_state_publisher/joint_state_publisher/joint_state_publisher.py
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Expand Up @@ -364,6 +364,8 @@ def __init__(self, description_file):
ParameterDescriptor(type=ParameterType.PARAMETER_INTEGER))
self.declare_ros_parameter('source_list', [],
ParameterDescriptor(type=ParameterType.PARAMETER_STRING_ARRAY))
self.declare_ros_parameter('relay_sources', False,
ParameterDescriptor(type=ParameterType.PARAMETER_BOOL))
self.declare_ros_parameter('use_mimic_tags', True,
ParameterDescriptor(type=ParameterType.PARAMETER_BOOL))
self.declare_ros_parameter('use_smallest_joint_limits', True,
Expand Down Expand Up @@ -459,6 +461,9 @@ def source_cb(self, msg):
if self.source_update_cb is not None:
self.source_update_cb()

if self.get_param('relay_sources'):
self.pub.publish(msg)

def set_source_update_cb(self, user_cb):
self.source_update_cb = user_cb

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