[ros2] gazebo_ros_joint_state_publisher #795
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kev-the-dev
requested changes
Aug 8, 2018
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| void GazeboRosJointStatePublisher::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) | ||
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| auto logger = rclcpp::get_logger("gazebo_ros_force"); |
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Should be "gazebo_ros_joint_state_publisher", though I personally favor creating the Node in the beginning and using it's logger node->get_logger(). This will avoid any inconsistency in logging if the node name is remapped
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I actually started that way, but then I moved the node creation to the bottom so we don't need to destroy the node in case the load function returns early.
But I can move it back to the top if you have a strong preference, I agree that it would make the logging consistent.
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kev-the-dev
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Aug 9, 2018
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Try out the demo, make sure you either have the
double_pendulum_with_basemodel locally or an internet connection:gazebo --verbose install/gazebo_plugins/share/gazebo_plugins/worlds/gazebo_ros_joint_state_publisher_demo.worldMigration
SDF
<robotNamespace><ros><namespace><jointName>joint1, joint2</jointName><joint_name>joint1</joint_name><joint_name>joint2</joint_name><updateRate><update_rate>