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rviz_robot_description_topic package from rviz_robot_description_topic repo

rviz_robot_description_topic

Package Summary

Tags No category tags.
Version 1.0.0
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nobleo/rviz_robot_description_topic.git
VCS Type git
VCS Version main
Last Updated 2023-08-07
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RobotModel display using a `/robot_description` topic instead of a parameter

Additional Links

Maintainers

  • Tim Clephas

Authors

  • Tim Clephas

rviz_robot_description_topic

This plugin allows you to display a robot model in rviz using a topic instead of a parameter.

Changing models

The robot_model plugin in rviz allows you to display a robot model using a parameter. This is useful if you have a static robot model that you want to display. However, if you want to display a robot model that is changing, you need to use a topic. This plugin allows you to display a robot model using a topic.

ROS 2 preparation

In ROS 2 the robot model is already published as a message. If you have a ROS1 code base but are preparing for a ROS2 migration, you can already convert the /robot_description parameter to a topic. This allows for less refactoring during the ROS 2 migration.

If you plan on using the ros1_bridge to connect ROS 1 and ROS 2, a robot description topic will pass this bridge just fine, whereas a parameter will not.

Convert from parameter to rostopic

If you are in the early stages of migration, you can already convert your robot description parameter to a topic using a small python node:

#!/usr/bin/env python
import rospy
from std_msgs.msg import String

rospy.init_node("robot_description_publisher")
pub = rospy.Publisher("robot_description", String, latch=True, queue_size=1)
pub.publish(rospy.get_param("robot_description"))
rospy.spin()

CHANGELOG

Changelog for package rviz_robot_description_topic

1.0.0 (2023-06-14)

  • RobotModel display using a /robot_description topic instead of a parameter
  • Contributors: Tim Clephas

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

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Plugins

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