How do I build something to see URDF model with RVIZ?
I am working up a URDF file and hoping to put together a new robot model along with a tutorial describing the ROS development process. I am using ROS-Groovy.
Right now I have a URDF that compiles and a state_publisher that fails to link. The message reads: "… undefined reference to 'tf::TransformBroadcaster::sendTransform(geometry_msgs::TransformStamped_<std::allocator<void> > const&)' "
I expect that I will also need a launch file, but have no clue what it will need to contain.
First question is how do I fix this build error?
Next question is do I have the correct directory layout? Current file organization is:
- …_ws/src/rbot_description/urdf/rbot.urdf
- …_ws/src/rbot_description/src/state_publisher.cpp
The state publisher is just a simulation stub at the moment, so knowing how to have a simulator sometimes and real control other times would be nice to know.
Finally I need to know where to put the launch file and what to put into it to get RVIZ running?
Again my assumption is that I really only need the 3 files: URDF, state_publisher and launch; is this correct?
