ros_server_class: publish urdf and srdf (latched)

Author: alaurenzi

include/cartesian_interface/ros/RosServerClass.h

@@ -121,7 +121,7 @@ namespace XBot { namespace Cartesian {
 
         std::unique_ptr<RsPub> _rspub;
 
-        rclcpp::Publisher<String>::SharedPtr _rdesc_pub;
+        rclcpp::Publisher<String>::SharedPtr _rdesc_pub, _rdesc_sem_pub;
 
         rclcpp::Publisher<PointStamped>::SharedPtr _com_pub;
 

src/ros/RosServerClass.cpp

@@ -86,6 +86,15 @@ RosServerClass::RosServerClass(CartesianInterfaceImpl::Ptr intfc,
     rdesc_msg.data = _model->getUrdfString();
     _rdesc_pub->publish(rdesc_msg);
 
+    // publish robot description
+    _rdesc_sem_pub = _node->create_publisher<String>(
+        "robot_description_semantic", 
+        rclcpp::QoS(1).transient_local().reliable()
+    );
+    std_msgs::msg::String rdesc_sem_msg;
+    rdesc_sem_msg.data = _model->getSrdfString();
+    _rdesc_sem_pub->publish(rdesc_sem_msg);
+
 }
 
 void RosServerClass::init_state_broadcasting()