Best practice for ROS2 node subscribing to "/franka_state_controller/franka_states"

[Olimoyo]

Hi,

I am running the Franka ROS1 packages and using a bridge to get the messages in ROS2.

If I would like to write a ROS2 python node that subscribes to the topic /franka_state_controller/franka_states of type FrankaState, what would be the best way to import this message definition and dependency? I'm trying to do the following right now:

from franka_msgs.msg import FrankaState

Thank you,
Oliver

[baslinjames]

Hello. Is there an update on reading the robot state with franka_ros2 @Olimoyo @marcbone ?

[Olimoyo]

I ended up not using ROS2 unfortunately.

[BarisYazici]

Franka robot state broadcaster is now supported default in ROS2 Humble. So you don't need the bridge now. You can access the franka_robot_state topic directly