再开一篇 urdf模型在rviz显示

创建工作空间

mkdir -p ~/catkin_ws3/src
cd ~/catkin_ws3/src

功能包

catkin_create_pkg beginner_tutorials

添加文件夹及文件

cd ~/catkin_ws3/src/beginner_tutorials/
mkdir urdf    
cd urdf
touch my_robot.urdf
 
cd ~/catkin_ws3/src/beginner_tutorials/
mkdir launch  
cd launch/
touch display.urdf.rviz.launch

编译

cd ~/catkin_ws3/
catkin_make

环境配置

source devel/setup.bash 

 my_robot.urdf

<robot name="test_robot">
  <link name="link1" />
  <link name="link2" />
  <link name="link3" />
  <link name="link4" />
 
  <joint name="joint1" type="continuous">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="5 3 0" rpy="0 0 0&