How to Combine URDF with RVIZ and Odometry

Hello Guys,

I am setting up my Robot System and I have the Odometry and I created a URDF-File, how can I combine the URDF File with the RVIZ and the Odometry to have a represenation of the Movement and my robot model?

Thanks in advance, Felix

Asked by felixwatzlawik on 2015-04-28 09:05:32 UTC

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Answers

Hi,

I would load your odom data into a sensor_msgs/JointState message, then subscribe to that with the robot_state_publisher node, passing it your URDF as a parameter. Finally you can use rviz to display the TF data that RSP is broadcasting.

Asked by aak2166 on 2015-04-28 12:39:36 UTC

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Can u give me some example code?

Asked by felixwatzlawik on 2015-04-29 01:53:42 UTC