README.md

EDGAR State Publisher

In order to integrate the edgar sensor description into a state publisher, the edgar.urdf file has to be referenced accordingly. We will provide an example using the official ROS robot_state_publisher package.

First, clone the robot_state_publisher package into your ROS workspace src folder

git clone https://github.com/ros/robot_state_publisher.git

and install the package.

colcon build --packages-select robot_state_publisher
source install/setup.bash

Once the robot_state_publisher is ready to go move the edgar.urdf into the URDF folder of the newly installed package.

mv path/to/edgar.urdf path/to/robot_state_publisher/urdf

In case you want to use the EDGAR 3d model make sure you provide a correct absolute path to the model. You will find the reference in the first link definition of the edgar.urdf as shown in this urdf snippet:

  <!--Base frame-->
  <link name="rear_axle_center_ground">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
	      <mesh filename="file:///absolute/path/to/the/3d_model/low_res/edgar.fbx" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>

In the next step, edit the launch file of the robot_state_publisher with the proper urdf reference:

def generate_launch_description():
    pkg_share = FindPackageShare('robot_state_publisher').find('robot_state_publisher')
    urdf_dir = os.path.join(pkg_share, 'urdf')
    urdf_file = os.path.join(urdf_dir, 'edgar.urdf')
    with open(urdf_file, 'r') as infp:
        robot_desc = infp.read()

We also provide edgar.launch.py, feel free to use it.

Once the URDF file and the 3d model is referenced properly, you can test the integration by launching

ros2 launch robot_state_publisher edgar.launch.py

Vizualize the robot model in rviz. You can use our edgar.rviz configuration file.

rviz2 -d path/to/edgar.rviz

For further details regarding the robot state publisher please refer to the official ROS Robot State Publisher: https://github.com/ros/robot_state_publisher/tree/humble