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The broadcaster reads all state interfaces and reports them on /joint_states and /dynamic_joint_states.


Broadcasters are not real controllers, and therefore take no commands.

Hardware interface type

All available joint state interfaces are used by this broadcaster.



Optional parameter (boolean; default: False) defining if joint_states and dynamic_joint_states messages should be published into local namespace, e.g., /my_state_broadcaster/joint_states.


Optional parameter (string array) with names of extra joints to be added to joint_states and dynamic_joint_states with state set to 0.