ICub + Gazebo + joint states on ROS1

[omareldardear]

Bug description

I am trying to have the joint states (iCub Gazebo)published on ROS and visualizing it on Rviz Following what is mentioned in the documentation
-> https://icub-tech-iit.github.io/documentation/icub_ros/#what-is-ros-tf
and the README on icub-models
-> https://github.com/robotology/icub-models/blob/master/iCub_manual/ros/README.md

I am not really familiar with the process, so I am not sure if I missing something or if there is a bug.
I have added the wrapper line in the configuration file of yarprobotinterface (no_legs.xml)
<xi:include href="wrappers/motorControl/icub_ros_wrapper.xml" />

no topics appeared on ROS

Thanks in advance.

Steps to reproduce

OS: Ubuntu 20.04
ROS1 Noetic
Superbuild: v2024.08.0
Gazebo 11
Using the following process

ROS_MASTER_URI set correctly on bashrc

• $roscore
• $yarpserver --ros
• $gazebo
• Placing iCub Model -> iCubGazeboV2_5 (no_hands)
• $yarprobotinterface --context gazeboCartesianControl --config no_legs.xml

$rostopic echo

no topics for iCubSim here

Expected behavior

No response

Example repository

No response

Additional context

no_legs.xml

<device name="torso" type="remote_controlboard">
    <param name="remote"> /icubSim/torso </param>
    <param name="local"> /gazeboCartesianControl/torso </param>
    <param name="writeStrict"> on </param>
</device>

<device name="left_arm" type="remote_controlboard">
    <param name="remote"> /icubSim/left_arm </param>
    <param name="local"> /gazeboCartesianControl/left_arm </param>
    <param name="writeStrict"> on </param>
</device>

<device name="right_arm" type="remote_controlboard">
    <param name="remote"> /icubSim/right_arm </param>
    <param name="local"> /gazeboCartesianControl/right_arm </param>
    <param name="writeStrict"> on </param>
</device>

<xi:include href="./cartesian/left_arm_cartesian.xml" />
<xi:include href="./cartesian/right_arm_cartesian.xml" />


 <!-- ROS -->
<xi:include href="wrappers/motorControl/icub_ros_wrapper.xml" />

[pattacini]

Hi @omareldardear

Great that you aim to use ROS on iCub.

Since our official documentation is a bit outdated in this respect¹, would you mind filing an issue at https://github.com/icub-tech-iit/xcub-moveit2 instead?

Thanks heaps!

Footnotes

1. @Nicogene @martinaxgloria we should reserve some effort to address this. ↩

[omareldardear]

Sure,
I am trying with ROS1 though

[pattacini]

Hi @omareldardear

Did you consider moving to ROS2?

ROS1¹ is something that we don't really support any longer, also given the work we did in https://github.com/icub-tech-iit/xcub-moveit2.
I know, the warning highlighted in https://icub-tech-iit.github.io/documentation/icub_ros/ is misleading and we definitely need to fix it.

Footnotes

1. ROS1 is also close to EOL, which is around May 2025. ↩

[omareldardear]

Yes.
I am actually more familiar with ROS2.
At the moment, I am trying to integrate iCub with other existing software on ROS1 (the ROS2 version is under development) .
I am happy to actually adopt ROS2 and use the ros_bridge.

I wasn't aware of movit repository until you just mentioned it.
I will try to follow the README there and see If I can manage.
If you have any other suggestions let me know.
Thanks

[omareldardear]

I will close this issue then and will follow up on the copied issue on xcub-moveit2 repo
icub-tech-iit/xcub-moveit2#26

[pattacini]

Great!