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Hello. I want to make my robot arm with to use urdf on ROS2. However, I can't find lanch file like urdf_tutorial of ROS1 and use rviz from command line with urdf. I know that ROS2's launch file is writen by python but urdf_tutorial of ROS1 is written by XML file. In addition, I know ROS2'launch is beta vertion. How do I do ?
The urdf tutorial of ros1 gives you a node that let's you view your urdf file, yes?
I was able to view my urdf file by running rviz2:
ros2 run rviz2 rviz2
and then adding a RobotModel plugin, and setting the Description File variable to the path to my urdf file.
Then I saved off this .rviz file and launched rviz with it in the future with the command:
ros2 run rviz2 rviz2 -d *path/to/rviz_config_file*
Just a note to the last command; it should be: ros2 run rviz2 rviz2 -d path/to/rviz_config_file ... not urdf_file.
I know that this an old question, but I make a project with a launch to run a robot arm so I put here.
https://github.com/olmerg/lesson_urdf
This project implements a 3D planar robot in urdf. It also contain a launch with a robot_state_publisher and a joint_state_publisher_gui. It also configure the rviz with tf and robotModel plugin to view the robot.
The answer by @johnconn is valid, but it is missing joint_state_publisher_gui and joint_state_publisher which you may need.
Unfortunately, urdf_tutorial is not available as a Debian package, but you can install it from ros2 branch:
https://github.com/ros/urdf_tutorial/...
# Source ROS2 environment
git clone -b ros2 https://github.com/ros/urdf_tutorial.git src/urdf_tutorial
colcon build --packages-select urdf_tutorial
# You may need to install `joint-state-publisher`
sudo apt install ros-foxy-joint-state-publisher-gui os-foxy-joint-state-publisher
And use it as:
ros2 launch urdf_tutorial display.launch.py model:=/path/to/your/urdf
You can also copy the launch file in your package:
https://github.com/ros/urdf_tutorial/...
Hi, you need to clone the lesson_urdfrepository https://github.com/olmerg/lesson_urdf into your ros2_ws and install the joint-state-publisher-gui and joint_state_publisher packages with sudo apt-get install. Also make sure you compile your environment with colcon build and source it with source ros2_ws/install/local_setup.bash. If you need a step by step instruction, I've made this video that can help:
Asked: 2019-07-14 08:17:44 -0500
Seen: 8,010 times
Last updated: Apr 06 '23
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