More updates.

This includes some example launch files.

Signed-off-by: Chris Lalancette <[email protected]>

CMakeLists.txt

@@ -11,6 +11,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(kdl_parser REQUIRED)
 find_package(orocos_kdl REQUIRED)
@@ -28,6 +29,7 @@ add_library(
   ${PROJECT_NAME} SHARED
   src/robot_state_publisher.cpp)
 ament_target_dependencies(${PROJECT_NAME}
+  builtin_interfaces
   geometry_msgs
   kdl_parser
   orocos_kdl
@@ -46,13 +48,7 @@ add_executable(
   ${PROJECT_NAME}_node
   src/robot_state_publisher_node.cpp)
 ament_target_dependencies(${PROJECT_NAME}_node
-  kdl_parser
-  orocos_kdl
   rclcpp
-  sensor_msgs
-  std_msgs
-  tf2_ros
-  urdf
 )
 target_link_libraries(${PROJECT_NAME}_node
   ${PROJECT_NAME}
@@ -74,6 +70,10 @@ install(
   DESTINATION lib/${PROJECT_NAME}
 )
 
+install(DIRECTORY launch urdf
+  DESTINATION share/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   find_package(ament_cmake_cppcheck REQUIRED)
   find_package(ament_cmake_cpplint REQUIRED)
@@ -84,7 +84,7 @@ if(BUILD_TESTING)
   ament_uncrustify()
 endif()
 
-ament_export_dependencies(orocos_kdl rclcpp sensor_msgs std_msgs tf2_ros urdf)
+ament_export_dependencies(builtin_interfaces orocos_kdl rclcpp sensor_msgs std_msgs tf2_ros urdf)
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 ament_package()

README.md

@@ -3,13 +3,15 @@ Robot State Publisher
 
 This package contains the Robot State Publisher, a node and a class to publish the state of a robot to tf2.  Once the state gets published, it is available to all components in the system that also use tf2.  The package takes the joint angles of the robot as input and publishes the 3D poses of the robot links, using a kinematic tree model of the robot.
 
+Examples showing how to pass the `robot_description` parameter using a launch file are available in the 'launch' subdirectory.
+
 Published Topics
 ----------------
-* `robot_description` (`std_msgs/String`) - The description of the robot URDF as a string.  Republishes the value set in the `robot_description` parameter, which is useful for getting informed of dynamic changes to the URDF.  Published using the "transient local" quality of service, so subscribers should also be "transient local".
+* `robot_description` (`std_msgs/msg/String`) - The description of the robot URDF as a string.  Republishes the value set in the `robot_description` parameter, which is useful for getting informed of dynamic changes to the URDF.  Published using the "transient local" quality of service, so subscribers should also be "transient local".
 
 Subscribed Topics
 -----------------
-* `joint_states` (`sensor_msgs/JointState`) - The joint state updates to the robot poses.  The RobotStatePublisher class takes these updates, does transformations (such as mimic joints), and then publishes the results on the tf2 topics.
+* `joint_states` (`sensor_msgs/msg/JointState`) - The joint state updates to the robot poses.  The RobotStatePublisher class takes these updates, does transformations (such as mimic joints), and then publishes the results on the tf2 topics.
 
 Parameters
 ----------

include/robot_state_publisher/robot_state_publisher.hpp

@@ -37,6 +37,7 @@
 #ifndef ROBOT_STATE_PUBLISHER__ROBOT_STATE_PUBLISHER_HPP_
 #define ROBOT_STATE_PUBLISHER__ROBOT_STATE_PUBLISHER_HPP_
 
+#include <builtin_interfaces/msg/time.hpp>
 #include <kdl/tree.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>

launch/rsp-launch-urdf-file.xml

@@ -0,0 +1,43 @@
+<!--
+Copyright (c) 2020 Open Source Robotics Foundation, Inc.
+All rights reserved.
+
+Software License Agreement (BSD License 2.0)
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<!--
+    This launch file shows how to launch robot_state_publisher with a simple
+    URDF read from a file (found using the find-pkg-share substitution).
+-->
+<launch>
+  <node pkg="robot_state_publisher" exec="robot_state_publisher_node">
+    <param name='robot_description' value="$(command 'cat $(find-pkg-share robot_state_publisher)/urdf/test-desc.urdf')"/>
+  </node>
+</launch>

launch/rsp-launch-urdf-file1.py

@@ -0,0 +1,56 @@
+# Copyright (c) 2020 Open Source Robotics Foundation, Inc.
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the copyright holder nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# This launch file shows how to launch robot_state_publisher with a simple
+# URDF read from a file (found using FindPackageShare) and passed as the
+# 'robot_description' parameter.
+
+import os
+
+import launch
+import launch_ros.actions
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    urdf_dir = os.path.join(FindPackageShare('robot_state_publisher').find('robot_state_publisher'), 'urdf')
+    urdf_file = os.path.join(urdf_dir, 'test-desc.urdf')
+    with open(urdf_file, 'r') as infp:
+        robot_desc = infp.read()
+
+    params = {'robot_description': robot_desc}
+    rsp = launch_ros.actions.Node(package='robot_state_publisher',
+                                  node_executable='robot_state_publisher_node',
+                                  output='both',
+                                  parameters=[params])
+
+    return launch.LaunchDescription([rsp])

launch/rsp-launch-urdf-file2.py

@@ -0,0 +1,57 @@
+# Copyright (c) 2020 Open Source Robotics Foundation, Inc.
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the copyright holder nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# This launch file shows how to launch robot_state_publisher with a simple
+# URDF read from a file (found using ament_get_package_share_directory) and
+# passed as the 'robot_description' parameter.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+import launch
+import launch_ros.actions
+
+
+def generate_launch_description():
+    urdf_dir = os.path.join(get_package_share_directory('robot_state_publisher'), 'urdf')
+    urdf_file = os.path.join(urdf_dir, 'test-desc.urdf')
+    with open(urdf_file, 'r') as infp:
+        robot_desc = infp.read()
+
+    params = {'robot_description': robot_desc}
+    rsp = launch_ros.actions.Node(package='robot_state_publisher',
+                                  node_executable='robot_state_publisher_node',
+                                  output='both',
+                                  parameters=[params])
+
+    return launch.LaunchDescription([rsp])

launch/rsp-launch-urdf-inline.py

@@ -0,0 +1,60 @@
+# Copyright (c) 2020 Open Source Robotics Foundation, Inc.
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the copyright holder nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# This launch file shows how to launch robot_state_publisher with a
+# simple URDF passed as the 'robot_description' parameter.
+
+import launch
+import launch_ros.actions
+
+
+def generate_launch_description():
+    robot_desc = """\
+<?xml version="1.0"?>
+<robot name="test">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+</robot>"""
+
+    params = {'robot_description': robot_desc}
+    rsp = launch_ros.actions.Node(package='robot_state_publisher',
+                                  node_executable='robot_state_publisher_node',
+                                  output='both',
+                                  parameters=[params])
+
+    return launch.LaunchDescription([rsp])

launch/rsp-launch-urdf-inline.xml

@@ -0,0 +1,56 @@
+<!--
+Copyright (c) 2020 Open Source Robotics Foundation, Inc.
+All rights reserved.
+
+Software License Agreement (BSD License 2.0)
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<!--
+    This launch file shows how to launch robot_state_publisher with a simple
+    URDF passed as the 'robot_description' parameter.
+-->
+
+<launch>
+  <node pkg="robot_state_publisher" exec="robot_state_publisher_node">
+    <param name='robot_description' value="
+&lt;?xml version='1.0'?&gt;
+&lt;robot name='test'&gt;
+  &lt;link name='base_link'&gt;
+    &lt;visual&gt;
+      &lt;geometry&gt;
+        &lt;cylinder length='0.6' radius='0.2'/&gt;
+      &lt;/geometry&gt;
+      &lt;material name='blue'/&gt;
+    &lt;/visual&gt;
+  &lt;/link&gt;
+&lt;/robot&gt;
+  "/>
+  </node>
+</launch>