franka_robot_state_broadcaster

This package contains read-only franka_robot_state_broadcaster controller.

Functionality

The broadcaster publishes franka_robot_state topic to the topic named /franka_robot_state_broadcaster/robot_state. This controller node is spawned by franka_launch.py in the franka_bringup. Therefore, all the examples that include the franka_launch.py publishes the robot_state topic.

Usage

The robot state broadcaster is automatically started when you launch the robot using:

ros2 launch franka_bringup franka.launch.py robot_ip:=<fci-ip>

Published Topics

/franka_robot_state_broadcaster/robot_state (franka_msgs/FrankaRobotState): Contains comprehensive robot state information including joint states, Cartesian pose, and other robot-specific data.

Integration

This broadcaster integrates with the franka_semantic_components package to provide safe access to robot state information for controllers and other nodes.