How to install joint_state_publisher on my computer

Course Support URDF for Robot Creation in ROS2
1

Hi! I’ve tried to visualize urdf model in rviz2 on my computer as it is written in tutorial. However, there is not explained how to install joint state publisher. I tried some commands but they weren’t useful. Can somebody send a reliable way to install this package?

2

Hello @Jef ,

The easiest way would be to install it through the binaries:

sudo apt update
sudo apt install ros-humble-joint-state-publisher
3

Thank you. Should I install it in my home directory or in a specific ros2 workspace which I use for my projects?

4

Hi @Jef ,

Welcome to this Community!

You do not have to install it in a specific directory or workspace. sudo apt install ... command will install the respective packages on the Linux system as a whole. It will be installed in the appropriate installation directories. You do not have to worry about where to install it.

Just run the two commands stated above on a Linux Terminal.
Also, ros2-humble version does not work with Ubuntu 20.04. It works only with Ubuntu 22.04. So if you are using any LXD emulator to run ros2-humble on your computer, you must make sure you have the emulator running before you proceed with the installation.

Hope this helps.

Regards,
Girish

5

Your advice have been helpful and I managed to install it. But, when I try to run command
ros2 run joint_state_publisher_gui joint_state_publisher_gui it says that package joint_state_publisher_gui isn’t found.

6

Hi @Jef ,

I guess you are forgetting to source your ROS2 workspace.

Try doing this:

source /opt/ros/humble/setup.bash
source <your_path_to_ros2_ws>/install/setup.bash # (optional)
ros2 run joint_state_publisher_gui joint_state_publisher_gui

Let us know if you got it working or not.

Regards,
Girish

7

I haven’t forgotten to source my workspace. When I want to run publisher it only recognize joint_state_publisher but not joint_state_publisher_gui
When I did your steps, No executable found is written on terminal.

8

I think I’ve found the solution. The pkg joint_state_publisher_gui wasn’t intsalled instantly with joint_state_publisher.
sudo apt install ros-humble-joint-state-publisher-gui

Thank everyone for help!

9

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