a.g's profile - activity

Is there a way to validate topic names in rclcpp? For ROS1 I was using the validate function defined here. Is there anything that is equivalent in C++ for ROS2?

ROS2 topic name validation Is there a way to validate topic names in rclcpp? For ROS1 I was using the validate function

I am trying to use moveit2 in ROS2. However in my application, I would like to change the default topic name of /joint_states (published by the joint_state_broadcaster) to a custom name without using relay, since another node in my setup is publishing to /joint_states.

Below is the panda_ros_controllers.yaml file that I am using. How would I change the published topic name for joint_state_broadcaster to something else?

controller_manager:
  ros__parameters:
    update_rate: 100  # Hz

    panda_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    panda_hand_controller:
      type: position_controllers/GripperActionController

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster


panda_arm_controller:
  ros__parameters:
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
    joints:
      - panda_joint1
      - panda_joint2
      - panda_joint3
      - panda_joint4
      - panda_joint5
      - panda_joint6
      - panda_joint7

panda_hand_controller:
  ros__parameters:
    joint: panda_finger_joint1

Thank you this helped a lot!

Change default topic name of joint_state_broadcaster? I am trying to use moveit2 in ROS2. However in my application, I w

Have you got it working fully yet? I understand that you would have to do port-forwarding on the remote network. But how

Yes that is exactly what I am trying to do. For example, the topic cmd_vel is normally exchanged between A and C. Now it

How to relay topics on ROS2? I have setup 2 computers which communicate with each other directly in ROS2. However, I wo

How to communicate with machines on different networks using ros2? I am using FASTRTPS as my dds with multicasting right

I have been able to include a parameter.yaml file in my test.launch.py file. However if I modify the parameter.yaml file, I need to build the entire package again before seeing changes reflected when I rerun test.launch.py.

In ROS1 this was not an issue as we could just change our parameters config file and rerun roslaunch.

Is there a way to ensure we don't need to rebuild every time we modify the paramter.yaml file?

Set parameters in ROS2 using a yaml file without needing to build the package every time I have been able to include a p

I am sending an array the size of 5 MB per message. Not sure which QoS I am using. I think it is the default implementat

Subscriber not receiving large char arrays using ros2 messages?! When the char array is small (<100 000 KB) then the

Subscriber not receiving large char arrays using ros2 messages?! When the char array is small (<100 000 KB) then the

Thank you!

Is it possible to do file transfers via ros2 messages/topics? Where the subscriber node will receive the file through a