Added frame_id to Joint State Broadcaster

[delipl]

Added frame_id parameter to fill the joint_states message in the Joint State Broadcaster. Thanks to this parameter rviz2 allows to visualize the effort of the joints.

[saikishor]

@delipl you have access to the URDF model in the joint state broadcaster. Why not use it to get its root link and publish by default, instead of setting a custom frame_id from the user?

AFAIK, the visualization is same irrespective of the type of the frame you choose. Am I right?

[delipl]

@delipl you have access to the URDF model in the joint state broadcaster. Why not use it to get its root link and publish by default, instead of setting a custom frame_id from the user?

AFAIK, the visualization is same irrespective of the type of the frame you choose. Am I right?

Good point. I can change the frame id to the root of the urdf.

Edit:
I added the parameter because I'm using humble. There is no model_.

[saikishor]

Good point. I can change the frame id to the root of the urdf.

Edit:
I added the parameter because I'm using humble. There is no model_.

Sure. But for Jazzy upon we have a URDF Model. May be you can use these changes to open another PR for Humble, but for this one, please use the URDF root link

[codecov]

Codecov Report

❌ Patch coverage is 66.66667% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 86.29%. Comparing base (97dd175) to head (13ae298).
⚠️ Report is 66 commits behind head on master.

Files with missing lines	Patch %	Lines
..._state_broadcaster/src/joint_state_broadcaster.cpp	60.00%	1 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1746      +/-   ##
==========================================
- Coverage   86.30%   86.29%   -0.01%     
==========================================
  Files         123      123              
  Lines       11942    11948       +6     
  Branches      995      996       +1     
==========================================
+ Hits        10306    10310       +4     
- Misses       1333     1334       +1     
- Partials      303      304       +1     

Flag	Coverage Δ
unittests	86.29% <66.66%> (-0.01%)	⬇️

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Files with missing lines	Coverage Δ
...oint_state_broadcaster/joint_state_broadcaster.hpp	100.00% <ø> (ø)
..._broadcaster/test/test_joint_state_broadcaster.cpp	96.93% <100.00%> (+<0.01%)	⬆️
..._state_broadcaster/src/joint_state_broadcaster.cpp	85.10% <60.00%> (-0.69%)	⬇️

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[bmagyar]

@saikishor what if we merge this as-is as a first version, backport all the way to humble and then modify things to use the URDF instead? Is there any chance you'd want to not use the absolute root of the URDF?

[saikishor]

@saikishor what if we merge this as-is as a first version, backport all the way to humble and then modify things to use the URDF instead?

@bmagyar I checked locally, it is not directly backportable, so I opened a new PR : #1751 cherry-picking @delipl's changes and refining a bit.

Is there any chance you'd want to not use the absolute root of the URDF?

I don't think the RViZ2 visualization changes based on the frame_id. I think it only check that it should be a valid frame

[bmagyar]

Thank you!

[zimmerman-pliant]

Is it right that this is not backported and released via Jazzy binaries yet?