Support joints publishing on ROS 2 for iCubGazeboV2_5_visuomanip #211
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Can I ask if there are update on this? Thank you cc @Nicogene |
Sorry, I lost this notification. In the future to not worry about pinging as this can happens. For me this is ok.
This is a problem for which we need to find a solution. I opened #212 to fix this, even If I do not know a solution. |
traversaro
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Should I edit the |
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If you like, yes, thanks! |
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If there are no other comments from your side, would it be possible to merge it? Thank you |
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Thanks @xEnVrE ! |
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As per the title.
It adds an
icub_ros2.xml, mimicking that ofiCubGenova11which, similary toiCubGazeboV2_5_visuomanip, does not have legs enabled.Using this file, instead of
icub.xml, inicub-models/iCub_manual/robots/iCubGazeboV2_5_visuomanip/model.urdf
Line 2753 in 9f5e04b
a standard ROS2-based robot state publisher can be executed.
Notes:
unfortunately,
icub_ros2.xmlcannot be made the default as it is not granted that each user oficub-modelsis also usingyarp-ros2-devices.fingers and eyes are not exposed as, at the moment, the robot state publisher would not know how to extract the physical joint from the coupled ones. I can add them in the future once the development in IJointCoupling: an interface for handling coupled joints yarp#3026 is completed.
cc @traversaro