We’ll start with inflexible, or fixed joints. Joint elements can refer to both flexible and inflexible joints. If we just add more link elements to the urdf, the parser won’t know where to put them. Now let’s look at how to add multiple shapes/links. Hence, half the cylinder is below the grid. The visual element (the cylinder) has its origin at the center of its geometry as a default.Here, it’s a frame defined by our one link, base_link. The fixed frame is the transform frame where the center of the grid is located. ![]() ![]() You'll have to change all example roslaunch lines given in these tutorials if you are not running them from the urdf_tutorial package location.Īfter launching display.launch, you should end up with RViz showing you the following: Note the single quotes around the argument value. If that is not the case, the relative path to 01-myfirst.urdf will not be valid, and you'll receive an error as soon as roslaunch tries to load the urdf to the parameter server.Ī slightly modified argument allows this to work regardless of the current working directory: $ roslaunch urdf_tutorial display.launch model:='$(find urdf_tutorial)/urdf/01-myfirst.urdf' Note that the roslaunch line above assumes that you are executing it from the urdf_tutorial package directory (ie: the urdf directory is a direct child of the current working directory). Runs nodes to publish sensor_msgs/JointState and transforms (more on these later)
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