This package allows you to publish the state of a robot to
tf2. Once the state gets published, it is
available to all components in the system that also use tf2.
The package takes the joint angles of the robot as input
and publishes the 3D poses of the robot links, using a kinematic
tree model of the robot. The package can both be used as a library
and as a ROS node. This package has been well tested and the code
is stable. No major changes are planned in the near future.
This package contains the robot state publisher, which can be used as a library or as a ROS node. The API documentation for the library can be found here: robot_state_publisher::RobotStatePublisher