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xArm-Developer / xarm_ros2

ROS2 developer packages for robotic products from UFACTORY
https://www.ufactory.cc/pages/xarm
BSD 3-Clause "New" or "Revised" License
112 stars 69 forks source link

About /robot_description duplication #80

Open mcres opened 2 months ago

mcres commented 2 months ago

This ticket is aimed to suggest a couple aspects that I think would improve building upon, debugging and maintaining this repository:

  1. The /robot_description topic should only be published by the /robot_state_publisher. This means that the move_group does not publish to it. When developing upon the repository, It can be very likely that both nodes have slightly different versions of such robot description, leading to difficult debugging sessions.
  2. Instead of generating multiple times a robot description and pass it as a parameter to e.g. the move_group or the controller_manager nodes, these could get such information from the /robot_description topic.

This would avoid the duplication of the /robot_description publishing and consumption and make sure that it is unique.

penglongxiang commented 1 month ago

@mcres Thanks for your feedback, we will take a look at this issue later.