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rapyuta-robotics / RapyutaSimulationPlugins

Apache License 2.0
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Is there any way to publish transform? #209

Closed james-yoo closed 11 months ago

james-yoo commented 1 year ago

Hi, According to the document, ARRBaseRobot has only basic interface such as /cmd_vel, /odom, /joint_states , /joint_commands. I'd like to publish a transform (such as /tf or /static_tf) for a custom robot, but I can't find a way to do so.

Since Unreal's static meshes correspond to urdf's 'link' attribute, and physics components correspond to urdf's 'joint' attribute, isn't that possible to publish the transform automatically based on the hierarchy of robot actor?

yuokamoto commented 12 months ago

Hi, There are multiple options

  1. You can use robot_state_publisher which subscribes /joint_states and publish /tf but requires urdf as robot_description
  2. Implement tf publisher using TFPublisher. it shouldn't be difficult but may need to think about multiple parameter such as offset from static mesh origin to link origin
yuokamoto commented 12 months ago

wip branch https://github.com/rapyuta-robotics/RapyutaSimulationPlugins/tree/joint_tf_publisher

yuokamoto commented 11 months ago

Sorry for taking long. Created PR https://github.com/rapyuta-robotics/RapyutaSimulationPlugins/pull/213

james-yoo commented 11 months ago

Hi @yuokamoto, I would like to know how to apply this 'joint tf publisher' to a mobile robot. A simple screenshot or documentation update would be great.

yuokamoto commented 11 months ago

Hi,

james-yoo commented 11 months ago

@yuokamoto, Looks great! Thanks for your quick response!