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@@ -13,7 +13,7 @@ Right now are published on ROS2 topics:
The steps to run rviz visualization correctly are:
- Edit `iCubGazeboV*/model.urdf` putting [`icub_ROS2.xml`](https://github.com/robotology/robots-configuration/blob/devel/iCub/conf_icub3/wrappers/icub_ROS2.xml)`robotinterface` xml file used at startup.
- Edit `iCubGazeboV*/model.urdf` putting `icub_ros2.xml``robotinterface` xml file used at startup.
- Ensure that the robot is started correctly with ros configuration files for motor control boards.
- On starting the robot, one should see `/<prefix>/joint_states` ros topic by running `ros2 topic list`.
Also, ensure that the `/<prefix>/joint_states` streams all the robot joint angles by running
