Support joints publishing on ROS 2 for iCubGazeboV2_5_visuomanip

xEnVrE commented 1 year ago

As per the title.

It adds an icub_ros2.xml, mimicking that of iCubGenova11 which, similary to iCubGazeboV2_5_visuomanip, does not have legs enabled.

Using this file, instead of icub.xml, in

a standard ROS2-based robot state publisher can be executed.

Notes:

unfortunately, icub_ros2.xml cannot be made the default as it is not granted that each user of icub-models is also using yarp-ros2-devices.
fingers and eyes are not exposed as, at the moment, the robot state publisher would not know how to extract the physical joint from the coupled ones. I can add them in the future once the development in https://github.com/robotology/yarp/pull/3026 is completed.

cc @traversaro

xEnVrE commented 1 year ago

Can I ask if there are update on this? Thank you

cc @Nicogene

traversaro commented 1 year ago

Can I ask if there are update on this? Thank you

Sorry, I lost this notification. In the future to not worry about pinging as this can happens. For me this is ok.

unfortunately, icub_ros2.xml cannot be made the default as it is not granted that each user of icub-models is also using yarp-ros2-devices.

This is a problem for which we need to find a solution. I opened https://github.com/robotology/icub-models/issues/212 to fix this, even If I do not know a solution.

xEnVrE commented 1 year ago

Should I edit the CHANGELOG.md?

cc @Nicogene @traversaro

traversaro commented 1 year ago

If you like, yes, thanks!

xEnVrE commented 1 year ago

CHANGELOG.md has been updated

xEnVrE commented 1 year ago

If there are no other comments from your side, would it be possible to merge it? Thank you

traversaro commented 1 year ago

Thanks @xEnVrE !

robotology / icub-models