用RVIZ視覺化URDF - tychien/gazebo_tutorial_zh GitHub Wiki

$ cd $HOME/catkin_ws/src/my_robot_description/launch
$ vim rviz.launch
<?xml version="1.0"?>
<launch>

    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find my_robot_description)/urdf/robot.urdf'" />

    <!-- send fake joint values -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
        <param name="use_gui" value="False"/>
    </node>

    <!-- Combine joint values -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

    <!-- Show in Rviz  -->
    <node name="rviz" pkg="rviz" type="rviz" />

 </launch>

開啟RViz $ roslaunch my_robot_description rviz.launch

在RViz中 點擊add，跳出視窗中下面Display Name搜尋RobotModel，點選OK

在左側欄中，Displays>Global Options>Fixed Frame 將原本的map 改為我們robot.urdf的link name 也就是link_chassis

error就會消失，同時BOX模型也會變成相對應的紅色

last updated May 10th, 2020

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