|CI status||No Continuous Integration|
|Tags||No category tags.|
Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)
This packages proposes a slider-based publisher node similar to the joint_state_publisher, but that can publish any type of message.
Several examples are given:
ros2 launch example.launch for timestamped Twist (cmd_vel)
ros2 launch example.launch file:=Twist.yaml for non-timestamped Twist
ros2 launch example.launch file:=VelPose.yaml for 2 topics (Twist + Pose)
ros2 launch example.launch file:=MultiArray.yaml for a topic with 4 floats
Array-based messages are possible only for floating point arrays.
The packages reduces to a single node that has to be called with an argument leading to a YAML file with the following structure (examples corresponding to the VelPose.yaml file):
topic_to_be_published: type: full message type (geometry_msgs/Twist) key_as_in_gui: (vx) to: corresponding_message_field (linear.x) min: slider minimum value (-1) max: slider maximum value (+1) other_key: ... other_topic_to_be_published: type...
Hard-coded numeric values (bounds / constant values in messages) can be defined using fractions of pi.
3D rotations (ie quaternions) can be parameterized as roll / pitch / yaw (see
RPY.yaml). While these fields are of course not part of a
Quaternion message, the corresponding 3D rotation will be built and published.