ROS 2 robot_state_publisher improvements

[gavanderhoorn]

A few of us were discussing a “next gen urdf” over in ROS-Industrial. As it seems this is (turned into) a(n) almost parallel discussion, I thought of linking the two:

Consideration of STEP or Collada for Describing the ROS Environment

Received some great notes from the recent developers’ meeting hosted by @Levi-Armstrong and I figured I would post them hear to drive a continued discussion. From Levi… The primary discussion was on what the format will be for describing ROS environment. The current supported candidates are SDF and URDF, but should we move toward an industry standard like STEP or collada. The recommendation was to get a ROS2 working group put together to select the next format going forward. It was also discus…