Missing Topics in ROS2

[asalbright]

The sim launches and runs great! However, there are some topics that are only available via ROS1 that would make this much more usable if they were available via ROS2.

It would be great to have all of them in ROS2, however some really important ones would be /tf, /ihmc_ros/valkyrie/output/joint_states and /multisense/joint_states.

Here is the list I have of ROS1 topics:

Again it would be amazing if all of these were in ROS2!

/ihmc_ros/valkyrie/output/behavior
/ihmc_ros/valkyrie/output/foot_force_sensor/left
/ihmc_ros/valkyrie/output/foot_force_sensor/right
/ihmc_ros/valkyrie/output/imu/head_imu_sensor
/ihmc_ros/valkyrie/output/imu/leftTorsoImu
/ihmc_ros/valkyrie/output/imu/pelvisMiddleImu
/ihmc_ros/valkyrie/output/imu/pelvisRearImu
/ihmc_ros/valkyrie/output/joint_states
/ihmc_ros/valkyrie/output/last_robot_config_received
/ihmc_ros/valkyrie/output/robot_motion_status
/ihmc_ros/valkyrie/output/robot_pose
/multisense/joint_states
/multisense/left/image_rect_color
/multisense/left/image_rect_color/camera_info
/multisense/lidar_scan
/multisense/right/image_rect_color
/multisense/right/image_rect_color/camera_info
/rosout
/rosout_agg
/tf

And here is the list I have of ROS2 topics:

/ihmc/lidar_scan
/ihmc/rea/input/planar_regions_list/custom_region
/ihmc/valkyrie/bipedal_support_region_publisher/input
/ihmc/valkyrie/humanoid_control/input/abort_walking
/ihmc/valkyrie/humanoid_control/input/arm_desired_accelerations
/ihmc/valkyrie/humanoid_control/input/arm_trajectory
/ihmc/valkyrie/humanoid_control/input/automatic_manipulation_abort
/ihmc/valkyrie/humanoid_control/input/center_of_mass_trajectory
/ihmc/valkyrie/humanoid_control/input/chest_hybrid_jointspace_taskspace_trajectory
/ihmc/valkyrie/humanoid_control/input/chest_trajectory
/ihmc/valkyrie/humanoid_control/input/clear_delay_queue
/ihmc/valkyrie/humanoid_control/input/continuous_step_generator_input
/ihmc/valkyrie/humanoid_control/input/continuous_step_generator_parameters
/ihmc/valkyrie/humanoid_control/input/crocoddyl_solver_trajectory
/ihmc/valkyrie/humanoid_control/input/directional_control_input
/ihmc/valkyrie/humanoid_control/input/fast_walking_gait_parameters
/ihmc/valkyrie/humanoid_control/input/foot_load_bearing
/ihmc/valkyrie/humanoid_control/input/foot_trajectory
/ihmc/valkyrie/humanoid_control/input/footstep_data_list
/ihmc/valkyrie/humanoid_control/input/go_home
/ihmc/valkyrie/humanoid_control/input/hand_desired_configuration
/ihmc/valkyrie/humanoid_control/input/hand_hybrid_jointspace_taskspace_trajectory
/ihmc/valkyrie/humanoid_control/input/hand_load_bearing
/ihmc/valkyrie/humanoid_control/input/hand_trajectory
/ihmc/valkyrie/humanoid_control/input/hand_wrench_trajectory
/ihmc/valkyrie/humanoid_control/input/head_hybrid_jointspace_taskspace_trajectory
/ihmc/valkyrie/humanoid_control/input/head_trajectory
/ihmc/valkyrie/humanoid_control/input/high_level_state
/ihmc/valkyrie/humanoid_control/input/leg_trajectory
/ihmc/valkyrie/humanoid_control/input/message_collection
/ihmc/valkyrie/humanoid_control/input/momentum_trajectory
/ihmc/valkyrie/humanoid_control/input/multi_contact_balance_status
/ihmc/valkyrie/humanoid_control/input/multi_contact_timed_contact_sequence
/ihmc/valkyrie/humanoid_control/input/multi_contact_trajectory
/ihmc/valkyrie/humanoid_control/input/multi_contact_trajectory_sequence
/ihmc/valkyrie/humanoid_control/input/neck_desired_accelerations
/ihmc/valkyrie/humanoid_control/input/neck_trajectory
/ihmc/valkyrie/humanoid_control/input/pause_walking
/ihmc/valkyrie/humanoid_control/input/pelvis_height_trajectory
/ihmc/valkyrie/humanoid_control/input/pelvis_orientation_trajectory
/ihmc/valkyrie/humanoid_control/input/pelvis_trajectory
/ihmc/valkyrie/humanoid_control/input/planar_regions_list
/ihmc/valkyrie/humanoid_control/input/prepare_for_locomotion
/ihmc/valkyrie/humanoid_control/input/request_wrist_force_sensor_calibration
/ihmc/valkyrie/humanoid_control/input/spine_desired_accelerations
/ihmc/valkyrie/humanoid_control/input/spine_trajectory
/ihmc/valkyrie/humanoid_control/input/stamped_pose
/ihmc/valkyrie/humanoid_control/input/stop_all_trajectory
/ihmc/valkyrie/humanoid_control/input/valkyrie_hand_finger_trajectory
/ihmc/valkyrie/humanoid_control/input/whole_body_jointspace_trajectory
/ihmc/valkyrie/humanoid_control/input/whole_body_streaming
/ihmc/valkyrie/humanoid_control/input/whole_body_trajectory
/ihmc/valkyrie/humanoid_control/output/afterhokuyo_joint
/ihmc/valkyrie/humanoid_control/output/afterleftanklepitch
/ihmc/valkyrie/humanoid_control/output/afterleftankleroll
/ihmc/valkyrie/humanoid_control/output/afterleftelbowpitch
/ihmc/valkyrie/humanoid_control/output/afterleftforearmyaw
/ihmc/valkyrie/humanoid_control/output/afterlefthippitch
/ihmc/valkyrie/humanoid_control/output/afterlefthiproll
/ihmc/valkyrie/humanoid_control/output/afterlefthipyaw
/ihmc/valkyrie/humanoid_control/output/afterleftkneepitch
/ihmc/valkyrie/humanoid_control/output/afterleftshoulderpitch
/ihmc/valkyrie/humanoid_control/output/afterleftshoulderroll
/ihmc/valkyrie/humanoid_control/output/afterleftshoulderyaw
/ihmc/valkyrie/humanoid_control/output/afterleftwristpitch
/ihmc/valkyrie/humanoid_control/output/afterleftwristroll
/ihmc/valkyrie/humanoid_control/output/afterlowerneckpitch
/ihmc/valkyrie/humanoid_control/output/afterneckyaw
/ihmc/valkyrie/humanoid_control/output/afterrightanklepitch
/ihmc/valkyrie/humanoid_control/output/afterrightankleroll
/ihmc/valkyrie/humanoid_control/output/afterrightelbowpitch
/ihmc/valkyrie/humanoid_control/output/afterrightforearmyaw
/ihmc/valkyrie/humanoid_control/output/afterrighthippitch
/ihmc/valkyrie/humanoid_control/output/afterrighthiproll
/ihmc/valkyrie/humanoid_control/output/afterrighthipyaw
/ihmc/valkyrie/humanoid_control/output/afterrightkneepitch
/ihmc/valkyrie/humanoid_control/output/afterrightshoulderpitch
/ihmc/valkyrie/humanoid_control/output/afterrightshoulderroll
/ihmc/valkyrie/humanoid_control/output/afterrightshoulderyaw
/ihmc/valkyrie/humanoid_control/output/afterrightwristpitch
/ihmc/valkyrie/humanoid_control/output/afterrightwristroll
/ihmc/valkyrie/humanoid_control/output/aftertorsopitch
/ihmc/valkyrie/humanoid_control/output/aftertorsoroll
/ihmc/valkyrie/humanoid_control/output/aftertorsoyaw
/ihmc/valkyrie/humanoid_control/output/afterupperneckpitch
/ihmc/valkyrie/humanoid_control/output/capturability_based_status
/ihmc/valkyrie/humanoid_control/output/controller_crash_notification
/ihmc/valkyrie/humanoid_control/output/footstep_queue_status
/ihmc/valkyrie/humanoid_control/output/footstep_status
/ihmc/valkyrie/humanoid_control/output/hand_joint_angle
/ihmc/valkyrie/humanoid_control/output/head_imu_sensor
/ihmc/valkyrie/humanoid_control/output/high_level_state_change_status
/ihmc/valkyrie/humanoid_control/output/invalid_packet_notification
/ihmc/valkyrie/humanoid_control/output/joint_desired_output
/ihmc/valkyrie/humanoid_control/output/jointspace_trajectory_status
/ihmc/valkyrie/humanoid_control/output/leftfootsixaxisframe
/ihmc/valkyrie/humanoid_control/output/lefttorsoimu
/ihmc/valkyrie/humanoid_control/output/localization
/ihmc/valkyrie/humanoid_control/output/manipulation_aborted_status
/ihmc/valkyrie/humanoid_control/output/message_collection_notification
/ihmc/valkyrie/humanoid_control/output/multi_contact_balance_status
/ihmc/valkyrie/humanoid_control/output/multi_contact_trajectory_status
/ihmc/valkyrie/humanoid_control/output/pelvis_pose_error
/ihmc/valkyrie/humanoid_control/output/pelvismiddleimu
/ihmc/valkyrie/humanoid_control/output/pelvisrearimu
/ihmc/valkyrie/humanoid_control/output/plan_offset_status
/ihmc/valkyrie/humanoid_control/output/queued_footstep_status
/ihmc/valkyrie/humanoid_control/output/rightfootsixaxisframe
/ihmc/valkyrie/humanoid_control/output/robot_configuration_data
/ihmc/valkyrie/humanoid_control/output/robot_desired_configuration_data
/ihmc/valkyrie/humanoid_control/output/taskspace_trajectory_status
/ihmc/valkyrie/humanoid_control/output/text_to_speech
/ihmc/valkyrie/humanoid_control/output/walking_controller_failure_status
/ihmc/valkyrie/humanoid_control/output/walking_status
/ihmc/video
/parameter_events
/rosout

Thanks so much!!