Hi,

I wonder if there is an elegant way or ROS2 way to get wheel radiuses specified in a URDF model in a ROS node.

There a few options available I can think of but I'm not sure if there are the most elegant way to get them:

• In a Gazebo drive plugin where it's reading the sdf model, you can publish the radiuses to a ROS topic. -> This look like the easiest one but not so elegant because you need to modify/create a gazebo plugin
• Feed the node you want to get the radiuses with a param node that contains a string with the URDF model. -> This looks elegant but overkill if you only want the radiuses of the wheels and not everything else. I wonder if there's a library to parse the URDF and easily get the radiuses of the wheels

Is there any other option?

By the way, I'm using ROS2 galactic.