ros-controls/ros2_controllers

Joint State Broadcaster print warning when unable to remap the interface properly

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#1,776 opened on Jun 25, 2025

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 (3 comments) (0 reactions) (1 assignee)C++ (520 forks)auto 404
good first issue

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Description

Joint State Broadcaster

In the Joint_state_broadcaster, when we use the map_interface_to_joint_state parameter, when the interface is not found, when the remapped interface is not found, then it rolls back to the default one. When it chooses the default one, it would be nice to have a warning printed to notify the user that the remapping is not happening on certain joints.

Moreover, when there is not even the default interface (position, velocity, effort), then it should also print that it is not present and NaN's will be obtained in the respective field.

https://github.com/ros-controls/ros2_controllers/blob/a88bf0af29308448424d0112cba2b0560d1a7305/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml#L29-L41

https://github.com/ros-controls/ros2_controllers/blob/a88bf0af29308448424d0112cba2b0560d1a7305/joint_state_broadcaster/src/joint_state_broadcaster.cpp#L241-L245

Contributor guide

Research direction
Add warning logs in joint state broadcaster.cpp when interface remapping fails or default interface is missing. Check the map interface to joint state parameter logic and output warnings using RCLCPP WARN.
Tech stack
cpp
Domain
backendapi
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++ROS2
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
65