File _service:obs_scm:README.en.md of Package ros2_robot_state_publisher

# robot_state_publisher

#### Description
This package allows you to publish the state of a robot to tf2. Once the state gets published, it is available to all components in the system that also use tf2. The package takes the joint angles of the robot as input and publishes the 3D poses of the robot links, using a kinematic tree model of the robot. The package can both be used as a library and as a ROS node. This package has been well tested and the code is stable. No major changes are planned in the near future.

#### Software Architecture
Software architecture description

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

input:

```
├── 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
```
![输入图片说明](https://images.gitee.com/uploads/images/2020/1116/170249_9642d90f_1226697.png "frames4.png")

#### Installation

1.  Download RPM

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.  Install RPM

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
```

#### Instructions

Dependence installation:

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

Exit the following output file under the /opt/ros/foxy/ directory,Prove that the software installation is successful.

output:

#### Contribution

1.  Fork the repository
2.  Create Feat_xxx branch
3.  Commit your code
4.  Create Pull Request

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