Comments (8)
ruffsl
commented on June 10, 2024
1
FYI, some relevant discussion on integrating SDFormat with ros2: ros/robot_state_publisher#144
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chapulina
commented on June 10, 2024
1
I played a bit with the sdformat_urdf package to see if I could use robot_state_publisher without changing the robot description from SDF to URDF. That package isn't released for Foxy though (ros/sdformat_urdf#3), so I tried compiling the galactic branch from source, as well as urdf_parser_plugin, but didn't get it to work 😕 It will be a bummer not to be able to do this on Foxy...
I'll try this on Galactic later. I'm still working on Dolly's Galactic migration on branch galactic_dev.
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hardesh
commented on June 10, 2024
Hi @chapulina,
Is there any update on this?
I've been trying to find a way to publish TFs with SDF, but have not found any way so far
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chapulina
commented on June 10, 2024
a way to publish TFs with SDF
You could add the PosePublisher plugin and start a ros_ign_bridge from /model/model_name/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose.
It would be nice to add an example like this to ros_ign_gazebo_demos
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hardesh
commented on June 10, 2024
Interesting! Thanks for sharing. Will try this out and will raise a PR after that
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hardesh
commented on June 10, 2024
Hi @chapulina,
I tried this today. But it's not working. I added the plugin in the SDF of robot
<plugin filename="libignition-gazebo-pose-publisher-system.so" name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>true</publish_link_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_nested_model_pose>true</publish_nested_model_pose>
<update_frequency>20</update_frequency>
</plugin>
When I echo the ign topic using ign topic -e --topic /robot/pose it's showing the data. But after adding the topic in parameter_bridge i'm not able to see the data on ROS2 topic
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hardesh
commented on June 10, 2024
Here's the parameter bridge node:
bridge = Node(
package='ros_ign_bridge',
executable='parameter_bridge',
arguments=['/cmd_vel@geometry_msgs/msg/[email protected]',
'/scan@sensor_msgs/msg/[email protected]',
'/odometry@nav_msgs/msg/[email protected]',
'/model/movus/pose@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V',
'/world/station/model/movus/link/camera_front/sensor/color/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo',
'/world/station/model/movus/link/camera_front/sensor/depth/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo',
'/world/station/model/movus/link/camera_front/sensor/color/image@sensor_msgs/msg/Image[ignition.msgs.Image',
'/world/station/model/movus/link/camera_front/sensor/depth/depth_image/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked'],
output='screen',
remappings=[
('/world/station/model/movus/link/camera_front/sensor/color/camera_info', '/camera/color/camera_info'),
('/world/station/model/movus/link/camera_front/sensor/color/image', '/camera/color/image'),
('/world/station/model/movus/link/camera_front/sensor/depth/camera_info', '/camera/depth/camera_info'),
('/world/station/model/movus/link/camera_front/sensor/depth/depth_image/points', '/camera/depth/points')
]
)
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hardesh
commented on June 10, 2024
Also I think I should create an issue in ros_ign 😓
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