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[ros2] gazebo_ros_joint_state_publisher #795

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merged 6 commits into from Aug 9, 2018

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@chapulina
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commented Aug 7, 2018

Try out the demo, make sure you either have the double_pendulum_with_base model locally or an internet connection:

gazebo --verbose install/gazebo_plugins/share/gazebo_plugins/worlds/gazebo_ros_joint_state_publisher_demo.world

joint_state_pub


Migration

SDF

ROS ROS 2
<robotNamespace> <ros><namespace>
<jointName>joint1, joint2</jointName> <joint_name>joint1</joint_name><joint_name>joint2</joint_name>
<updateRate> <update_rate>
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One typo, otherwise LGTM


void GazeboRosJointStatePublisher::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf)
{
auto logger = rclcpp::get_logger("gazebo_ros_force");

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@kev-the-dev

kev-the-dev Aug 8, 2018

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Should be "gazebo_ros_joint_state_publisher", though I personally favor creating the Node in the beginning and using it's logger node->get_logger(). This will avoid any inconsistency in logging if the node name is remapped

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@chapulina

chapulina Aug 8, 2018

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I actually started that way, but then I moved the node creation to the bottom so we don't need to destroy the node in case the load function returns early.

But I can move it back to the top if you have a strong preference, I agree that it would make the logging consistent.

@chapulina chapulina force-pushed the ros2_joint_state_pub branch from 1b6f9bc to 4fe1967 Aug 8, 2018
@chapulina chapulina merged commit 70c2587 into ros2 Aug 9, 2018
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@chapulina chapulina deleted the ros2_joint_state_pub branch Aug 10, 2018
@dhood dhood added the ros2 label Aug 17, 2018
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