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Hi everyone,
I have a URDF file of my own robot, but I don't know how to load it to RVIZ. I've googled but still don't get it.
I'm very new to ROS. Any help will be appreciated.
If there is a step-by-step tutorial, that will be even better.
You're in luck if you want a step by step tutorial: http://wiki.ros.org/urdf/Tutorials#Le...
The following launch file is from the urdf_tutorial pacakge
<launch>
<arg name="model" default="$(find urdf_tutorial)/urdf/01-myfirst.urdf"/>
<arg name="gui" default="true" />
<arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>
You can create your own package or download this package and use this launch file.
To use this launch file run
roslaunch urdf_tutorial display.launch model:='$(find <package-name>)/urdf/myurdf.urdf'
where <package-name> is the package that contains the URDF file and myurdf.urdf is your URDF file.
Asked: 2018-07-16 16:01:16 -0600
Seen: 18,423 times
Last updated: Jul 16 '18
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