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Does anyone know how do the link between Rviz of ROS and the physical robot model ?

asked 2014-08-03 22:44:25 -0500

a_le_ban gravatar image

hi all,

I would like to do the link between rviz and my phisical robot, when my robotic arm move, i would like the same think into rviz ?

thank you for your help!

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answered 2014-08-04 02:12:46 -0500

ahendrix gravatar image
  • This is usually done by creating a URDF (robot kinematic model) which defines the kinematics and joints of your robot, and loading it into the robot_description parameter.
  • Your hardware driver then publishes the joint_states topic with the name and position of each joint mentioned in the URDF.
  • The robot_state_publisher node reads this joint_states topic and the URDF, and publishes the transform tree (TF) in full 3D for your robot.
  • You can then visualize this in Rviz with the Robot Model display.

The Using URDF with robot_state_publisher Tutorial gives a more in-depth walkthrough of all of the steps in this process.

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thank you for your help!

a_le_ban gravatar imagea_le_ban ( 2014-08-04 02:20:42 -0500 )edit

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Asked: 2014-08-03 22:44:25 -0500

Seen: 122 times

Last updated: Aug 04 '14