Expose robot morphology parameters

iRobotEducation / create3_sim

ROS 2 Simulation for the iRobot® Create® 3 Educational Robot

BSD 3-Clause "New" or "Revised" License

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Expose robot morphology parameters #81

Closed alsora closed 2 years ago

alsora commented 2 years ago

In the create3 robot, a node currently exposes the following ROS 2 parameters:

wheels_radius
wheel_base
wheels_encoder_resolution

Is there a way to access them from the simulated model? Or do we have to hard-code them in the node? Note that the node name must match the one used in the create3 robot (currently it's static_transform but I think it should be changed).

rjcausarano commented 2 years ago

Currently we have a node called wheel_status_publisher_node that exposes these except for wheel_base: /wheel_status_publisher_node: encoder_resolution publish_rate ticks_topic use_sim_time velocity_topic wheel_radius

alsora commented 2 years ago

Closing as duplicate of https://github.com/iRobotEducation/create3_sim/issues/39