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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.
Reading the Bouncy source, I see 2 problems:
robot_state_publisher is publishing with RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL, while rviz2 is listening with the default (volatile). The connection will be made as volatile ( https://github.com/ros2/ros2/wiki/Abo... ), which means that the latched message is never received.
robot_state_publisher is publishing the actual XML in a String, while rviz2 expects the String to contain a filepath to an urdf file. So, even if the message was received, it won't be interpreted correctly.
Clearly a bug (or 2) in rviz2, but I'm not sure about the design intent.
Asked: 2018-10-02 03:36:03 -0500
Seen: 2,575 times
Last updated: Oct 15 '18
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robot_descriptionis a topic now? It used to be a parameter.It is published as a
std_msgs::msg::Stringand in RVIZ2 it is identified asTopic. With a$ ros2 topic listyou see a/robot_descriptiontopic 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 parameteror 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...