add cpp version for urdf_tutorial #4926

Demonmasterlqx · 2025-01-08T08:34:27Z

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some command to launch debug demo is wrong and correct it Signed-off-by: Demonmasterlqx <[email protected]>

Signed-off-by: Demonmasterlqx <[email protected]>

…obot-State-Publisher-py.rst change name Signed-off-by: Demonmasterlqx <[email protected]>

add cpp version Signed-off-by: Demonmasterlqx <[email protected]>

add .. redirect-from:: Tutorials/URDF/Using-URDF-with-Robot-State-Publisher Signed-off-by: Demonmasterlqx <[email protected]>

kscottz

Hi @Demonmasterlqx, thank you so much for your contribution! We really appreciate it.

I sent over a bunch of suggestions. Before I approve this I would like to see more comments in main C++ source file. It really helps users when we document the example code in excruciating detail.

Other than that I think we have to discuss the copyright of the code cited in pull request. I don't think it is a problem, but we need some clarity on how to handle it appropriately.

source/Tutorials/Intermediate/Tf2/Debugging-Tf2-Problems.rst

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

kscottz · 2025-01-08T19:51:19Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+-------
+
+You created a ``JointState`` publisher node and coupled it with ``robot_state_publisher`` to simulate a walking robot.
+The code used in these examples is originally from `here <https://github.com/benbongalon/ros2-migration/tree/master/urdf_tutorial>`__.


@fujitatomoya how should we handle the copyright on this kind of stuff?

kscottz · 2025-01-08T19:51:40Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+The code used in these examples is originally from `here <https://github.com/benbongalon/ros2-migration/tree/master/urdf_tutorial>`__.
+
+Credit is given to the authors of this
+`ROS 1 tutorial <http://wiki.ros.org/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher>`__


I don't know if we need these lines.

Actually, I just copy these form python version. So I tend to delete them. QWQ

Signed-off-by: Demonmasterlqx <[email protected]>

Polish my language Signed-off-by: Demonmasterlqx <[email protected]>

add code comment Signed-off-by: Demonmasterlqx <[email protected]>

fix format problems Signed-off-by: Demonmasterlqx <[email protected]>

Demonmasterlqx · 2025-01-10T04:20:49Z

Hi @kscottz ! Thank you so much for helping me to polish my words and give some suggestion. I have add some code comment into code blocks and polish my words

kscottz · 2025-01-15T21:45:14Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+
+To do this, we must specify all three joints and the overall robot geometry.
+
+Fire up your favorite editor and paste the following code into 


Suggested change

Fire up your favorite editor and paste the following code into

Fire up your favorite editor and paste the following code into

kscottz · 2025-01-15T21:45:32Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+  #include <cmath>
+  #include <thread>
+  #include <chrono>
+


Suggested change

kscottz

I went through and added a few suggestions. I'll approve the PR under the assumption that you'll approve those and that you pass the linter.

You had a long list of linter whitespace errors that needed to be fixed. I think I fixed them all for you but there might be a few stragglers.

You need one more review before we can merge this in.

kscottz · 2025-01-15T21:45:49Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+  #include <chrono>
+
+  using namespace std::chrono;
+


Suggested change

kscottz · 2025-01-15T21:46:05Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+
+  class StatePublisher : public rclcpp::Node{
+      public:
+


Suggested change

kscottz · 2025-01-15T21:46:26Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+              // create a broadcaster to tell the tf2 state information
+              // this broadcaster will determine the position of coordinate system 'asix' in coordinate system 'odom'
+              RCLCPP_INFO(this->get_logger(),"Starting state publisher");
+


Suggested change

kscottz · 2025-01-15T21:46:39Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+              RCLCPP_INFO(this->get_logger(),"Starting state publisher");
+
+              loop_rate_=std::make_shared<rclcpp::Rate>(33ms);
+


Suggested change

kscottz · 2025-01-15T21:48:06Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+      return 0;
+  }
+
+This file will send the ``joint_state`` to ``robot_state_publisher`` and ``robot_state_publisher`` will tell tf2 how to place model.


Suggested change

This file will send the ``joint_state`` to ``robot_state_publisher`` and ``robot_state_publisher`` will tell tf2 how to place model.

This file will send ``joint_state`` values to ``robot_state_publisher`` which in turn will tell tf2 how to place model.

kscottz · 2025-01-15T21:49:08Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+
+This file will send the ``joint_state`` to ``robot_state_publisher`` and ``robot_state_publisher`` will tell tf2 how to place model.
+
+This file will also tell ``tf2`` how to place the whole model by ``broadcaster``


Suggested change

This file will also tell ``tf2`` how to place the whole model by ``broadcaster``

The code file will also tell ``tf2`` how to place the whole model using the ``transform_broadcaster``

kscottz · 2025-01-15T21:49:49Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+      rclcpp::TimerBase::SharedPtr timer_;
+
+      //Robot state variables
+


Suggested change

kscottz · 2025-01-15T21:50:45Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+  };
+
+  void StatePublisher::publish(){
+      // create msg subject


Suggested change

// create msg subject

// create the necessary messages

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

kscottz · 2025-01-15T21:52:31Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+
+  ros2 launch urdf_tutorial_cpp launch.py
+
+To visualize your results you will need to open a new terminal and run Rviz using your rviz configuration file. 


Suggested change

To visualize your results you will need to open a new terminal and run Rviz using your rviz configuration file.

To visualize your results you will need to open a new terminal and run RViz using your RViz configuration file.

…-Publisher-cpp.rst Signed-off-by: Katherine Scott <[email protected]>

kscottz · 2025-01-16T21:39:53Z

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

+6 Install the package
+^^^^^^^^^^^^^^^^^^^^^
+
+To visualize the results you will need to open a new terminal and run RViz using your RViz configuration file. 


Suggested change

To visualize the results you will need to open a new terminal and run RViz using your RViz configuration file.

To visualize the results you will need to open a new terminal and run RViz using your RViz configuration file.

Demonmasterlqx added 4 commits January 4, 2025 11:58

Update Debugging-Tf2-Problems.rst

2189611

some command to launch debug demo is wrong and correct it Signed-off-by: Demonmasterlqx <[email protected]>

Update Debugging-Tf2-Problems.rst

11c0d8f

Signed-off-by: Demonmasterlqx <[email protected]>

Rename Using-URDF-with-Robot-State-Publisher.rst to Using-URDF-with-R…

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…obot-State-Publisher-py.rst change name Signed-off-by: Demonmasterlqx <[email protected]>

Create Using-URDF-with-Robot-State-Publisher-cpp.rst

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add cpp version Signed-off-by: Demonmasterlqx <[email protected]>

Demonmasterlqx requested review from clalancette and audrow as code owners January 8, 2025 08:34

Update Using-URDF-with-Robot-State-Publisher-cpp.rst

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add .. redirect-from:: Tutorials/URDF/Using-URDF-with-Robot-State-Publisher Signed-off-by: Demonmasterlqx <[email protected]>

kscottz requested changes Jan 8, 2025

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Demonmasterlqx added 5 commits January 10, 2025 11:20

Update Using-URDF-with-Robot-State-Publisher-cpp.rst

204cfaf

Signed-off-by: Demonmasterlqx <[email protected]>

Merge branch 'ros2:rolling' into rolling

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Update Using-URDF-with-Robot-State-Publisher-cpp.rst

21dc807

Polish my language Signed-off-by: Demonmasterlqx <[email protected]>

Update Using-URDF-with-Robot-State-Publisher-cpp.rst

63b671e

add code comment Signed-off-by: Demonmasterlqx <[email protected]>

Update Using-URDF-with-Robot-State-Publisher-cpp.rst

1bc706c

fix format problems Signed-off-by: Demonmasterlqx <[email protected]>

kscottz reviewed Jan 15, 2025

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White space help.

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kscottz approved these changes Jan 15, 2025

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Update source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State…

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…-Publisher-cpp.rst Signed-off-by: Katherine Scott <[email protected]>

kscottz reviewed Jan 16, 2025

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add cpp version for urdf_tutorial #4926

add cpp version for urdf_tutorial #4926

Demonmasterlqx commented Jan 8, 2025

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		To do this, we must specify all three joints and the overall robot geometry.

		Fire up your favorite editor and paste the following code into

		RCLCPP_INFO(this->get_logger(),"Starting state publisher");

		loop_rate_=std::make_shared<rclcpp::Rate>(33ms);

	This file will send the ``joint_state`` to ``robot_state_publisher`` and ``robot_state_publisher`` will tell tf2 how to place model.
	This file will send ``joint_state`` values to ``robot_state_publisher`` which in turn will tell tf2 how to place model.


		This file will send the ``joint_state`` to ``robot_state_publisher`` and ``robot_state_publisher`` will tell tf2 how to place model.

		This file will also tell ``tf2`` how to place the whole model by ``broadcaster``

	This file will also tell ``tf2`` how to place the whole model by ``broadcaster``
	The code file will also tell ``tf2`` how to place the whole model using the ``transform_broadcaster``


		ros2 launch urdf_tutorial_cpp launch.py

		To visualize your results you will need to open a new terminal and run Rviz using your rviz configuration file.

	To visualize the results you will need to open a new terminal and run RViz using your RViz configuration file.
	To visualize the results you will need to open a new terminal and run RViz using your RViz configuration file.

add cpp version for urdf_tutorial #4926

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