TF Listener + Reset Wrapped

Dockerfile.ros

@@ -1,4 +1,4 @@
-FROM ros:jazzy-ros-base
+FROM osrf/ros:jazzy-desktop
 ENV DEBIAN_FRONTEND=noninteractive
 
 ARG ROS_DISTRO=jazzy
@@ -19,7 +19,6 @@ RUN apt-get update && apt-get install -y \
 RUN apt-get update && apt-get install -y \
     python3-rosdep \
     python3-colcon-common-extensions \
-    ros-${ROS_DISTRO}-joy \
  && rm -rf /var/lib/apt/lists/*
 
 

compose.ros.yaml

@@ -7,11 +7,14 @@ services:
     # Note: `privileged` is not the safest, but it is an easy way to give real-time privileges to the container.
     privileged: true
     network_mode: host
-
+    environment:
+        - DISPLAY=${DISPLAY}
     volumes:
       - ./libs:/workspace/libs
       - ./app:/workspace/app
       # For ROS communication across containers: https://robotics.stackexchange.com/questions/98161/ros2-foxy-nodes-cant-communicate-through-docker-container-border
       - /dev/shm:/dev/shm
+      # Xhost forwarding
+      - /tmp/.X11-unix:/tmp/.X11-unix
     stdin_open: true
     tty: true 

libs/robot_description/README.md

@@ -1,5 +1,37 @@
 # Robot Description
 
+## ROS Installation
+Make sure you are in the robot_description/ros directory.
+```bash
+colcon build --symlink-install
+source install/setup.sh
+```
+
+## ROS Running
+To launch the rviz node, run the following:
+```bash
+ros2 launch robot_description newdisplay.launch.py urdf_path:=[absolute path to urdf] rviz_config:=[absolute path to rviz config]
+```
+Test publishing a joint state and see it update the rviz (robot description defaults to listening at /joint_state)
+```bash
+ros2 topic pub -r 10 /joint_states sensor_msgs/msg/JointState \
+"{header: {stamp: 'now', frame_id: ''},
+  name: [
+    'left_panda_joint1','left_panda_joint2','left_panda_joint3','left_panda_joint4','left_panda_joint5','left_panda_joint6','left_panda_joint7',
+    'left_F1M1','left_F1M2','left_F1M3','left_F1M4','left_F2M1','left_F2M2','left_F2M3','left_F2M4', 'left_F3M1','left_F3M2','left_F3M3','left_F3M4',
+    'right_panda_joint1','right_panda_joint2','right_panda_joint3','right_panda_joint4','right_panda_joint5','right_panda_joint6','right_panda_joint7',
+    'right_F1M1','right_F1M2','right_F1M3','right_F1M4', 'right_F2M1','right_F2M2','right_F2M3','right_F2M4', 'right_F3M1','right_F3M2','right_F3M3','right_F3M4'
+  ],
+  position: [
+    0.0, -0.7854, 0.0, -2.3562, 0.0, 1.5708, 0.7854,             
+    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  
+    0.0, -0.7854, 0.0, -2.3562, 0.0, 1.5708, 0.7854,            
+    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0  
+  ]}"
+
+```
+
+TODO: Fix joint name in tesollo urdf
 
 ## Notes
 TODO: Make this into python package??

libs/robot_description/launch/display.launch.py

@@ -5,8 +5,9 @@
 
 path_to_src = get_package_share_directory('robot_description')
 print("Path to robot_motion package:", path_to_src)
-path_to_current_package = get_package_share_directory('robot_motion') + '/ik/'
-setting_file_path = path_to_current_package + 'settings.yaml'
+path_to_current_package = get_package_share_directory('robot_motion') + '/robot_motion/ik/'
+setting_file_path = path_to_current_package + 'config/' + 'bimanual_ik_settings.yaml' # need to change this probably as currently not working for settings.yaml
+print("Setting file path in display.launch.py:", setting_file_path)
 
 def generate_launch_description():
     # Load the infomation