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ICub + Gazebo + joint states on ROS1 #994

Open omareldardear opened 7 hours ago

omareldardear commented 7 hours ago

Bug description

I am trying to have the joint states (iCub Gazebo)published on ROS and visualizing it on Rviz Following what is mentioned in the documentation -> https://icub-tech-iit.github.io/documentation/icub_ros/#what-is-ros-tf and the README on icub-models -> https://github.com/robotology/icub-models/blob/master/iCub_manual/ros/README.md

I am not really familiar with the process, so I am not sure if I missing something or if there is a bug. I have added the wrapper line in the configuration file of yarprobotinterface (no_legs.xml)

no topics appeared on ROS

Thanks in advance.

Steps to reproduce

OS: Ubuntu 20.04 ROS1 Noetic Superbuild: v2024.08.0 Gazebo 11 Using the following process

ROS_MASTER_URI set correctly on bashrc

  • $roscore
  • $yarpserver --ros
  • $gazebo
  • Placing iCub Model -> iCubGazeboV2_5 (no_hands)
  • $yarprobotinterface --context gazeboCartesianControl --config no_legs.xml

$rostopic echo

no topics for iCubSim here

Expected behavior

No response

Example repository

No response

Additional context

no_legs.xml

<?xml version="1.0" encoding="UTF-8" ?> <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

/icubSim/torso /gazeboCartesianControl/torso on /icubSim/left_arm /gazeboCartesianControl/left_arm on /icubSim/right_arm /gazeboCartesianControl/right_arm on
pattacini commented 6 hours ago

Hi @omareldardear

Great that you aim to use ROS on iCub.

Since our official documentation is a bit outdated in this respect[^1], would you mind filing an issue at https://github.com/icub-tech-iit/xcub-moveit2 instead?

Thanks heaps!

[^1]: @Nicogene @martinaxgloria we should reserve some effort to address this.

omareldardear commented 6 hours ago

Sure, I am trying with ROS1 though

pattacini commented 5 hours ago

Hi @omareldardear

Did you consider moving to ROS2?

ROS1[^1] is something that we don't really support any longer, also given the work we did in https://github.com/icub-tech-iit/xcub-moveit2. I know, the warning highlighted in https://icub-tech-iit.github.io/documentation/icub_ros/ is misleading and we definitely need to fix it.

[^1]: ROS1 is also close to EOL, which is around May 2025.