Re-organize tf and joint state publishers and create final launchfile - Githubissues

Ekumen-OS / andino_isaac

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Re-organize tf and joint state publishers and create final launchfile #12

Closed JCarosella closed 5 months ago

JCarosella commented 7 months ago

https://github.com/ekumenlabs/andino_isaac/pull/9 adds a launchfile that launches andino in isaac. That simulation currently publishes both the joint states and the tfs.

We should make it so that Isaac only publishes the joint states, and publish the robot description using the ROS2 node.

Remove the tf publisher from isaac
Add as a package dependency the andino package
Create a launchfile that launches andino in isaac as well as the ROS2 robot_state_publisher