[ROS2] Robot State Publisher publishes empty robot_description
Using Robot State Publisher I noticed that in RVIZ2 the "Robot Model" panel is not updated subscribing to the /robot_description
topic, but it works correctly choosing file
as "Description Source".
Investigating further I noticed that indeed the /robot_description
topic is available in the topic list, but nothing is published.
robot_description
is a topic now? It used to be a parameter.It is published as a
std_msgs::msg::String
and in RVIZ2 it is identified asTopic
. With a$ ros2 topic list
you see a/robot_description
topic available in the listI'm seeing the same behavior. Did you find a solution?
Not yet... I just opened an issue here: https://github.com/ros2/robot_state_p...
I wouldn't be surprised if the topic was a workaround to cope with the absence of parameters at the time. So generally I don't believe that having the description published as a topic makes sense. The github issue should therefore be changed to
implement robot_description as parameter
or similarI had not thought about the fact that params was missing... I thought it was a design choice. I'm going to change the issue
That's the initial discussion about having the robot description as a topic: https://github.com/ros2/robot_state_p...