# ros2_robot_state_publisher

**Repository Path**: src-openeuler/ros2_robot_state_publisher

## Basic Information

- **Project Name**: ros2_robot_state_publisher
- **Description**: Allows you to publish the state of a robot for ROS 2.
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2023-02-14
- **Last Updated**: 2024-12-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: sig-ROS

## README

# robot_state_publisher

#### 介绍
robot_state_publisher包允许您将机械手的状态发布到 tf2。状态发布后，对于使用tf2的系统中的所有组件都可用。该包使用机器人的运动学树模型将机器人的关节角度作为输入，并发布机器人链接的3D姿势。该软件包既可以用作库又可以用作ROS节点。该软件包已经过良好的测试，并且代码稳定。

#### 软件架构
软件架构说明

![输入图片说明](https://images.gitee.com/uploads/images/2020/1116/170432_371d4379_1226697.png "frames4.png")

文件内容:

```
├── CHANGELOG.rst
├── CMakeLists.txt
├── CONTRIBUTING.md
├── LICENSE
├── README.md
├── include
│   └── robot_state_publisher
│       └── robot_state_publisher.hpp
├── launch
│   ├── rsp-launch-urdf-file.xml
│   ├── rsp-launch-urdf-file1.py
│   ├── rsp-launch-urdf-file2.py
│   ├── rsp-launch-urdf-inline.py
│   ├── rsp-launch-urdf-inline.xml
│   ├── rsp-launch-xacro-api.py
│   ├── rsp-launch-xacro-command-subst.py
│   ├── rsp-launch-xacro-command-subst.xml
│   └── rsp-launch-xacro-popen.py
├── package.xml
├── src
│   └── robot_state_publisher.cpp
├── test
│   ├── test_two_links_fixed_joint.cpp
│   ├── test_two_links_fixed_joint_prefix.cpp
│   ├── test_two_links_moving_joint.cpp
│   ├── two_links_fixed_joint-launch.py
│   ├── two_links_fixed_joint.urdf
│   ├── two_links_fixed_joint_prefix-launch.py
│   ├── two_links_moving_joint-launch.py
│   └── two_links_moving_joint.urdf
└── urdf
    ├── test-desc.urdf
    └── test-desc.urdf.xacro
```

#### 安装教程

1. 下载rpm包

aarch64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/robot_state_publisher/ros-foxy-ros-robot_state_publisher-2.4.5-2.oe2203.aarch64.rpm
```

x86_64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/robot_state_publisher/ros-foxy-ros-robot_state_publisher-2.4.5-2.oe2203.x86_64.rpm
```

2. 安装rpm包

aarch64:

```
sudo rpm -ivh --nodeps --force ros-foxy-ros-robot_state_publisher-2.4.5-2.oe2203.aarch64.rpm
```

x86_64:

```
sudo rpm -ivh --nodeps --force ros-foxy-ros-robot_state_publisher-2.4.5-2.oe2203.x86_64.rpm
```

#### 使用说明

依赖环境安装:

```
sh /opt/ros/foxy/install_dependence.sh
```

安装完成以后，在/opt/ros/foxy/目录下有如下输出,则表示安装成功。

输出:

```./
|-- COLCON_IGNORE
|-- _local_setup_util_ps1.py
|-- _local_setup_util_sh.py
|-- bin
|-- include
|-- lib
|-- lib64
|-- local_setup.bash
|-- local_setup.ps1
|-- local_setup.sh
|-- local_setup.zsh
|-- setup.bash
|-- setup.ps1
|-- setup.sh
|-- setup.zsh
|-- share
|   `-- robot_state_publisher
|       |-- hook
|       |-- package.bash
|       |-- package.dsv
|       |-- package.ps1
|       |-- package.sh
|       |-- package.xml
|       |-- package.zsh
|       |-- plugin.xml
|       `-- resource
`-- src
```

#### 参与贡献

1.  Fork 本仓库
2.  新建 Feat_xxx 分支
3.  提交代码
4.  新建 Pull Request


#### 特技

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5.  Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
6.  Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)