simpub_ros2

ROS 2 wrapper node for using SimPublisher (https://github.com/intuitive-robots/SimPublisher). Use this package to publish simulated sensor/pose data into a ROS 2 system using either ROS topics or the TF tree as input.

Prerequisites

• ROS 2 (tested with common distributions such as Foxy / Galactic / Humble)
• Install SimPublisher:

pip install simpub

Install (in a ROS 2 workspace)

1. Clone this package into src/ of your workspace.
2. Build: colcon build --symlink-install
3. Source: source install/setup.bash

Usage examples

• Run directly (example): ros2 run simpub_ros2 simpub_node --ros-args -p input_source:=tf -p input_frame:=world
• Use a launch file (if provided in this package): ros2 launch simpub_ros2 simpub_launch.py