iCub landed on ROS2 planet

[Nicogene]

Hi @robotology/everyone!

Thanks to a joint work between HSP@IIT and iCub-Tech department iCub humanoid robot is now ROS2 compatible.

These type of data can be now published on topic ros2 using the devices contained in the yarp-devices-ros2:

• Joint state
• IMU
• FT sensors
• Laser scan
• Image
• Occupancy Grid
• Point cloud
• Odometry

Here is an example of a visualization of iCub in rviz2 using the gazebo simulator

iCubHelloRos2.mp4

Here instead an example of rviz2 visualization of the real robot performing a grasping demo (credits @xEnVrE)

test_rviz_demo.mp4

The part on data publication on topic ros2 is almost done, we miss just the skin sensors.

On the other hand, the control part is still in an experimental state. We hope to give you news soon also on this matter.

Warning

yarp-devices-ros2 is still experimental/beta, as also its README states. It will be "officially" released after YARP 3.8.0 release which will happen this month. Please take account that breaking changes could be done without notice.

If you have an iCub and you want to try out this ROS2 integration, you need:

• Install yarp-devices-ros2
• Change the yarprobotinterface files like done here: https://github.com/robotology/robots-configuration/pull/415/files

Special thanks to @randaz81 @elandini84 and @ste93.

[lrapetti]

These type of data can be now published on topic ros2 using the devices contained in the yarp-devices-ros2:

There is a typo in the link https://github.com/robotology-playground/yarp-devices-ros2 😉

[Nicogene]

Thanks!

[traversaro]

If you have an iCub and you want to try out this ROS2 integration, you need:

* Install [yarp-devices-ros2](https://github.com/robotology-playground/yarp-devices-ros2)

* Change the `yarprobotinterface` files like done here: https://github.com/robotology/robots-configuration/pull/415/files

Thanks a lot @Nicogene ! How it is possible to try this integration using the Gazebo Classic simulation of iCub, shown in the first video?

[Nicogene]

You can find here an (I hope exhaustive) guide about how to use the ros2 integration with the Gazebo simulator. If you find any error or missing information don't hesitate to open an issue in the icub-models repository!

[alecive]

You are so classic @traversaro

[xEnVrE]

You can find here an (I hope exhaustive) guide about how to use the ros2 integration with the Gazebo simulator.

It seems that the link above is broken. Was it moved somewhere else? cc @Nicogene @traversaro

[martinaxgloria]

Hi @xEnVrE,
I'm not sure it's the same file, but following the history, I think you can find the guide here

[xEnVrE]

Thank you!

[Nicogene]

I changed it w/ the link provided by @martinaxgloria 👍🏻