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Visualizing objects in rviz

asked 2011-11-27 12:23:21 -0500

zamboni gravatar image

Guys, i am completely new to ROS and trying to learn how to get things done. I am trying to model an environment where I have two objects and the pr2 in my world. The launch file is the following:

<launch>

 <!-- Launch PR2 in empty world -->
 <include file="$(find pr2_gazebo)/pr2_empty_world.launch"/>

 <!-- send urdf to param server -->
 <param name="object1" textfile="/home/x/ros_workspace/project/objects/urdf/object1.urdf" />
 <param name="object2" textfile="/home/ros_workspace/project/objects/urdf/object2.urdf" />

 <!-- push urdf to factory and spawn robot in gazebo -->
 <node name="spawn_object1" pkg="gazebo" type="spawn_model" args="-urdf -param object1 -x 3.0 -y 3.0 -z 0.1  -model object1" respawn="false" output="screen" />
 <node name="spawn_object2" pkg="gazebo" type="spawn_model" args="-urdf -param object2 -x 2.75 -y 3.5 -z 0.25  -model object2" respawn="false" output="screen" />

</launch>

My objects get correctly spanwned and I can visualize them in gazebo, but they do not appear on rviz. How would I see the objects in rviz?

Thanks

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answered 2011-11-28 19:22:11 -0500

ZdenekM gravatar image

updated 2011-11-29 19:06:21 -0500

You have to upload URDF model of your object to ROS parameter server (object1, object2) - it's already in your launch file.

Then you have to add its display in RVIZ - type robot model (set robot description to "object1"). For object2 you have to add next robot model display.

And finally publish transformations via TF - sample code for this task is here. It's reading (one) object position from Gazebo and publishing transformation between world frame, robot base_link and object link.

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answered 2011-11-29 03:08:43 -0500

zamboni gravatar image

the link you provided does not work.

Also, by this "Then you have to add its display in RVIZ - type robot model (set robot description to "object1"). For object2 you have to add next robot model display." you mean the following? <param name="object1" command="cat /home/x/ros_workspace/project/objects/urdf/object1.urdf"/>

Sorry but it is still not clear to me. Thanks

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Comments

Ok, link is now working. For reply to answer you should use comment, not new answer ;-) By adding robot model into RVIZ I mean adding appropriate display type into RVIZ, see user guide on ROS wiki (http://www.ros.org/wiki/rviz/UserGuide).
ZdenekM gravatar image ZdenekM  ( 2011-11-29 19:06:50 -0500 )edit
Purpose of mentioned line (param ...) is to upload object description in form or URDF file (which is XML) to ROS parameter server.
ZdenekM gravatar image ZdenekM  ( 2011-11-29 19:13:09 -0500 )edit
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answered 2011-11-27 13:07:28 -0500

gavinmachine gravatar image

Try adding this to your launch file (add your values where appropriate):

<launch>
    <param name="robot_description" command="cat $(find packagename)/model.xml" />
</launch>

Taken from here.

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answered 2011-11-28 04:12:45 -0500

zamboni gravatar image

what would it be my model.xml?

I have object1.urdf which is in the format: <robot name="" ...&gt;="" <link="" name="" ...&gt;<="" p="">

but it won't be recognized as an xml file. Any suggestion?

Thanks

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Comments

Did you look at the link posted above? Also, here is the xml format required: http://www.ros.org/wiki/urdf/XML/Link. Note: In the future please use the "comment" box for follow up questions, do not post in the "answer" box.
gavinmachine gravatar image gavinmachine  ( 2011-11-28 04:45:35 -0500 )edit

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Asked: 2011-11-27 12:23:21 -0500

Seen: 5,822 times

Last updated: Nov 29 '11