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The major change here is that there is no longer a centralized parameter server. Therefore, you need to provide the URDF to the robot_state_publisher as a parameter named "robot_description". The robot_state_publisher is then very kind and publishes that URDF on the "robot_description" topic. In RVIZ2, you'll find that the RobotModel plugin has the option to load the URDF from either a topic (which is what I use, since robot_state_publisher is already publishing the topic) or you can have RVIZ2 load the file directly from a provided file name in the options panel.

I'm using Python, rather than XML, for launch - but here's an example of a full robot: https://github.com/mikeferguson/ubr_reloaded/blob/ros2/ubr1_bringup/launch/robot.launch.py

The major change here is that there is no longer a centralized parameter server. Therefore, you need to provide the URDF to the robot_state_publisher as a parameter named "robot_description". The robot_state_publisher is then very kind and publishes that URDF on the "robot_description" topic. In RVIZ2, you'll find that the RobotModel plugin has the option to load the URDF from either a topic (which is what I use, since robot_state_publisher is already publishing the topic) or you can have RVIZ2 load the file directly from a provided file name in the options Displays panel.

I'm using Python, rather than XML, for launch - but here's an example of a full robot: https://github.com/mikeferguson/ubr_reloaded/blob/ros2/ubr1_bringup/launch/robot.launch.py