{"action":"closed","issue":{"url":"https://api.github.com/repos/arebgun/dynamixel_motor/issues/34","labels_url":"https://api.github.com/repos/arebgun/dynamixel_motor/issues/34/labels{/name}","comments_url":"https://api.github.com/repos/arebgun/dynamixel_motor/issues/34/comments","events_url":"https://api.github.com/repos/arebgun/dynamixel_motor/issues/34/events","html_url":"https://github.com/arebgun/dynamixel_motor/issues/34","id":68632368,"number":34,"title":"Proposal: Adding sensor_msgs/JointState publisher","user":{"login":"OkkeHendriks","id":3514136,"avatar_url":"https://avatars.githubusercontent.com/u/3514136?v=3","gravatar_id":"","url":"https://api.github.com/users/OkkeHendriks","html_url":"https://github.com/OkkeHendriks","followers_url":"https://api.github.com/users/OkkeHendriks/followers","following_url":"https://api.github.com/users/OkkeHendriks/following{/other_user}","gists_url":"https://api.github.com/users/OkkeHendriks/gists{/gist_id}","starred_url":"https://api.github.com/users/OkkeHendriks/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/OkkeHendriks/subscriptions","organizations_url":"https://api.github.com/users/OkkeHendriks/orgs","repos_url":"https://api.github.com/users/OkkeHendriks/repos","events_url":"https://api.github.com/users/OkkeHendriks/events{/privacy}","received_events_url":"https://api.github.com/users/OkkeHendriks/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/arebgun/dynamixel_motor/labels/duplicate","name":"duplicate","color":"cccccc"}],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-04-15T09:53:35Z","updated_at":"2015-04-25T04:15:51Z","closed_at":"2015-04-25T04:15:51Z","body":"When using the [robot_state_publisher](http://wiki.ros.org/robot_state_publisher) (which is used frequently to publish the TFs of a robot) one needs  joint states as `sensor_msgs JointState`. I created a package based on [this](http://ros-by-example.googlecode.com/svn/trunk/rbx_vol_1/rbx1_dynamixels/nodes/dynamixel_joint_state_publisher.py) code, which republishes the `dynamixel JointState` messages as `sensor_msgs JointState` messages.\r\n\r\nThis package can be found here:\r\nhttps://github.com/RobotRose/dynamixel_joint_state_publisher\r\n\r\nIt may be a good idea to integrate this package into dynamixel_motor?\r\nOr it may be a better solution to do the publishing of `sensor_msgs JointState` directly (in parallel to the dynamixel messages)?"}}