[Example 13] Multi-robot system with lifecycle management (backport #417) #606
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* Add description for r3bot Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: bailaC <bailaC@users.noreply.github.com> * Remove camera links etc * Initial commit for example_13 from old PRs Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: bailaC <bailaC@users.noreply.github.com> * Change MD to rst syntax * Update test node syntax * Fix test nodes launch file * Enhance docs * Fix wrench config * Use global joint_state_broadcaster * Add tests * FIx links to files * Add some text * Fix dependencies * Add example13 to workflows+packages * Apply suggestions from code review Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> * Update example_13/doc/userdoc.rst Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> * Fix rst syntax * Use new ros2controlcli verb * Add initial version for launch_test * Add a more complete test * Fix whitespaces * Fix decimal numbers Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> * Fix more decimal numbers Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> --------- Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: bailaC <bailaC@users.noreply.github.com> Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com> (cherry picked from commit d6e730f)
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This is a rewrite of #187 including StoglRobotics-forks#7.
Open questions for me:
The problems discussed in the latter PR are summarized in Ressource manager hangs up on lifecycle changes ros2_control#1103. I'd say we can add this example even if the problem is not fixed yet.It uses the rrbot URDF from example_4 and example_5. Should I generate new ones inside example 15? Currently, there is also the FTS broadcaster etc in Rviz, but maybe this wouldn't be necessary and we could just use the same Rrbot instead.-> we decided in the WG meeting to reuse descriptions for the multi-robot examples./joint_statestopic and it seemed to work (better than now, without the necessity of reloading the JSB). The only difference is that with the global one, all joints are within one message. Why would someone need this for multiple robots?This is an automatic backport of pull request [Example 13] Multi-robot system with lifecycle management #417 done by Mergify.