Revision history [back]

Hello,

I am also wondering the same. I did not fully explored the urdf documentation, but it did not seem so clear about the minimal configuration you would need to run a simple model without a joint_state_publisher or robot_state_publisher. Nor how to deal with partial tf trees, and tf updates from multiple sources.

Then, I would guess only tf... provided that all the frames of your model are broadcasted by some entity(ies), it should be ok.

It seems from rviz documentation that you only need to load your urdf model as a parameter.

Robot Description: The parameter to retrieve the urdf from. Uses searchParam() to search up the parameter tree for the value specified.

For example, in a launch file:

<param name="robot_description" textfile="PATH_TO_URDF_FILE" />

Should just do it. I can tell you more tomorrow when I will be integrating my brand new urdf model.

Raph

Hello,

I am also wondering the same. I just began with URDF today. I did not fully explored explore the urdf documentation, but it did not seem so clear about the minimal configuration you would need to run a simple model without a joint_state_publisher or nor a robot_state_publisher. Nor Also, I stay curious about how to deal with partial tf trees, and tf updates from multiple sources.sources when dealing with joint and robot publisher.

Then, I would guess only tf... provided that all the frames of your model are broadcasted by some entity(ies), it should be ok.

It seems from rviz documentation that you only need to load your urdf model as a parameter.

Robot Description: The parameter to retrieve the urdf from. Uses searchParam() to search up the parameter tree for the value specified.

For example, in a launch file:

<param name="robot_description" textfile="PATH_TO_URDF_FILE" />

Should just do it. I can tell you more tomorrow when I will be integrating my brand new urdf model.

Raph