upload_description.launch.py cannot currently be used in the Robotont bringup launch files because it does not start robot_state_publisher. As a result, the robot description is never published to /robot_description, breaking downstream tools (e.g. TF, RViz)
There is also duplicated functionality between upload_description.launch.py and display_robot_model.launch.py: both generate robot_description, select URDFs by generation, but only one starts robot_state_publisher.
Expected direction:
- Align with common ROS 2 patterns used in popular robot platforms for sharing robot description between fake and real hardware.
- Refactor so robot description generation is centralized and potentially reused (e.g. one launch file included by others).
- Ensure robot_state_publisher is started where appropriate.
upload_description.launch.py cannot currently be used in the Robotont bringup launch files because it does not start robot_state_publisher. As a result, the robot description is never published to /robot_description, breaking downstream tools (e.g. TF, RViz)
There is also duplicated functionality between upload_description.launch.py and display_robot_model.launch.py: both generate robot_description, select URDFs by generation, but only one starts robot_state_publisher.
Expected direction: