Add joint state publisher

Author: sivral

aegis_moveit_config/launch/aegis.launch.py

@@ -94,13 +94,16 @@ def launch_setup(context: LaunchContext) -> List[Node]:
 
     robot_state_publisher_node = prepare_robot_state_publisher_node(robot_description)
 
+    joint_state_publisher_node = prepare_joint_state_publisher_node()
+
     scene_objects_manager_node = prepare_scene_objects_manager_node(aegis_paths)
 
     nodes_to_start = [
         move_group_node,
         rviz_node,
         tf_odom_node,
         robot_state_publisher_node,
+        joint_state_publisher_node,
         scene_objects_manager_node,
         # TODO(issue#5) enable real-time servo
         # servo_node(),
@@ -288,6 +291,14 @@ def prepare_robot_state_publisher_node(robot_description: Dict) -> Node:
         parameters=[robot_description],
     )
 
+def prepare_joint_state_publisher_node() -> Node:
+    return Node(
+        package="joint_state_publisher",
+        executable="joint_state_publisher",
+        name="joint_state_publisher",
+        output="screen",
+    )
+
 
 def prepare_scene_objects_manager_node(paths: AegisPathsCfg) -> Node:
     return Node(