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ros / robot_state_publisher

Allows you to publish the state of a robot (i.e the position of its base and all joints) via the "tf" transform library
http://www.ros.org/wiki/robot_state_publisher
BSD 3-Clause "New" or "Revised" License
90 stars 168 forks source link

Python Bindings for Robot State Publisher #199

Open geoeo opened 2 years ago

geoeo commented 2 years ago

Would it be possible to write python bindings for the accessing the library?

I think currently its only possible to manually publish a robot state publisher via cpp code?

clalancette commented 2 years ago

It would be possible, but I'm not entirely sure why you would want to do it. As it stands, robot_state_publisher does exactly one thing; it subscribes to /joint_states, and given a URDF, it publishes the joint states out to /tf or /tf_static. There isn't much of an API to call here.

Can you explain why you want a Python API, and what you are trying to accomplish?

geoeo commented 2 years ago

I have a mesh of an object im tracking that I want to visualize in rviz. Since I can only publish the robot state model via the node I either 1) need an extra terminal or 2) use the launch file. When Im developing I dont want to use the launch file. So I need an extra terminal. It would be more ergonomic (in my opinion) if I could publish all data from my node (via code). I guess this is more a quality of life improvement