robot-state-publisher
CommunityBridge URDF to TF in ROS 2.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Connects URDF to the TF tree in ROS 2 by running robot_state_publisher, enabling automatic transforms and RViz visualization. It also integrates with joint_state_publisher for testing moves and verification.
Core Features & Use Cases
- Publishes dynamic transforms for movable joints on /tf
- Publishes static transforms for fixed joints on /tf_static
- Publishes the URDF on the /robot_description topic for RViz, Nav2, and MoveIt
- Supports multi-robot setups with frame_prefix and namespaces
Quick Start
Load your robot_description URDF into the robot_description parameter and launch robot_state_publisher with a simple LaunchDescription.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: robot-state-publisher Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#robot-state-publisher Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
Agent Skills Search Helper
Install a tiny helper to your Agent, search and equip skill from 471,000+ vetted skills library on demand.