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Switching from Gazebo to a "real" robot

asked 2014-10-31 12:25:37 -0600

Marcus gravatar image

updated 2014-10-31 12:26:33 -0600

Hey guys,

so far i have been using gazebo to simulate my algorithms (and then simulating the results in Gazebo), but now i have a real robot available and i wanted to know how i can load the urdf model (so i can see it in "rviz" and profit of the links to "tf ") without using the spawn robot launch file:

<node name="robot_spawner" pkg="gazebo_ros" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model mobile_base"/>

of gazebo_ros (because this launch script also launches gazebo).

Any suggestion would be very appreciated

Marcus

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answered 2014-10-31 20:24:41 -0600

David Lu gravatar image

That launch command assumes that the urdf has been written to the parameter robot_description. In Rviz, add a RobotModel to the displays with the topic robot_description (should be the default).

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Thanks David, that worked perfectly.

Marcus gravatar imageMarcus ( 2014-11-02 05:13:53 -0600 )edit

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Asked: 2014-10-31 12:25:37 -0600

Seen: 358 times

Last updated: Oct 31 '14