Binding Sensors to OpenRAVE/ROS
openrave_sensors contains a ROSSensorPublisher problem, which can be used to publish all sensor data.
An example of launching a simple openrave file, loading the problem, and opening the ros viewer can be executed with:
roslaunch openrave_sensors wamscene.launch.xml
This opens the test/wamscene.env.xml file. Note how the probleminstance is loaded inside the environment file:
<environment> ... <probleminstance type="ROSSensorPublisher"> <sendcommand>registerrobot robot BarrettWAM namespace wam</sendcommand> </probleminstance> </environment>