Make some members protected in WebotsNode.hpp

[dzywater]

Make some members protected in WebotsNode.hpp for users' further development and ideas' try
mRobot
mRobotName
mRobotDescription
mClient s
setAnotherNodeParameter

[lukicdarkoo]

Exposing more of API means more maintenance and less flexibility on our side. Could you please tell me your use case?

[dzywater]

Oh, sorry, I ignored them suddenly, robot() and urdf() are enough.

[lukicdarkoo]

Could you please propose changes to:
https://github.com/cyberbotics/webots_ros2/wiki/Tutorial-Creating-a-Custom-Plugin
so the others are also aware of the methods?

[dzywater]

Could you please propose changes to:
https://github.com/cyberbotics/webots_ros2/wiki/Tutorial-Creating-a-Custom-Plugin
so the others are also aware of the methods?

It takes long time, I will try it if I have enough free time.

I want to ask/confirm:

mRobotDescription = this->declare_parameterstd::string("robot_description", "") for webots devices/plugin configuration.

the "robot_description" seems to conflict with robot_state_publisher's ???

for better understanding, can we rename the variable name and parameter name, like robot_configuration or webots_configuration

[lukicdarkoo]

The parameter name is the same, but the node name is not. To change a parameter, you have to specify a node name as well. Therefore, there are no conflicts.

I wouldn't rename it because we want to implement full URDF support:

• https://discourse.ros.org/t/urdf-with-webots/19665
• Question: why not introduce a <webots> tag? urdf2webots#112

[dzywater]

The parameter name is the same, but the node name is not. To change a parameter, you have to specify a node name as well. Therefore, there are no conflicts.

I wouldn't rename it because we want to implement full URDF support:

* https://discourse.ros.org/t/urdf-with-webots/19665

* [Question: why not introduce a <webots> tag? urdf2webots#112](https://github.com/cyberbotics/urdf2webots/issues/112)

Wow! That's a good news!
Which version will plan to implement full URDF support?

[lukicdarkoo]

Which version will plan to implement full URDF support?

We have some ideas on how to implement it, but we haven't settled on anything. Once we do a detailed plan we will be able to estimate the time of release.

[dzywater]

Which version will plan to implement full URDF support?

We have some ideas on how to implement it, but we haven't settled on anything. Once we do a detailed plan we will be able to estimate the time of release.

Currently, how could we get webots robot's urdf (Robot::getUrdf) in other ros nodes?

[lukicdarkoo]

You read the robot_description param. Alternatively, you can make a simple Python plugin that publishes a latched topic (or service) with the description.