Peng Chang

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    Northeastern University

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  1. Hello all, I'm using Sawyer robot with moveIt planner. I used the "robot = moveit_commander.RobotCommander()" and "print robot.get_current_state()". The output is showing below (the joint states are 0s or empty): ============ Printing robot state [ WARN] [1533160158.107494140]: Joint values for monitored state are requested but the full state is not known joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base" name: [right_j0, head_pan, right_j1, right_j2, right_j3, right_j4, right_j5, right_j6, right_gripper_l_finger_joint, right_gripper_r_finger_joint] position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] velocity: [] effort: [] multi_dof_joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base" joint_names: [] transforms: [] twist: [] wrench: [] attached_collision_objects: [] is_diff: False By the way, by referring to "!topic/moveit-users/jKV9QuHeFXU", I tried to use "roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true joint_states:=/robot/joint_states" to remap the /robot/joint_states. It could not work either. Can you help me with that? Thank you.