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This fork of the standard ROS robot_state_publisher adds the ability to dynamically change the URDF at runtime, by adding joint and linkage trees. Hotswapping end-effectors on a robot's arm is now possible without needing to restart the robot_state_publisher.
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Merge pull request #18 from srl-freiburg/clock_reset_fix
b43ffd8View on GitHubFix for joint transforms not being published anymore after a clock reset (e.g. when playing a bagfile and looping)
61767eaView on GitHub