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The easiest way would be to use the urdf_tutorial launch file:

roslaunch urdf_tutorial display.launch model:=/path/to/robot.urdf

...launch rviz while loading the robot specified by the model argument.

This linking error should never happen for state_publisher. You should detail your build process in another question to solve this matter.

The easiest way would be to use the urdf_tutorial launch file:

roslaunch urdf_tutorial display.launch model:=/path/to/robot.urdf

...launch rviz while loading the robot specified by the model argument.argument. You can open the file to see what is necessary and yes you need one file (the robot URDF model), the robot_state_publisher node, the joint_state_publisher node and rviz for the visualization.

This linking error should never happen for state_publisher. You should detail your build process in another question to solve this matter.