参考网址:https://industrial-training-master.readthedocs.io/en/kinetic/_source/session3/Intro-to-URDF.html
根据上述网址:我们修改了部分变量,建成workcell.xacro文件如下
可以看到这里是在ur5.urdf.xacro的基础上,添加了相机和桌子
根据参考网址:https://industrial-training-master.readthedocs.io/en/kinetic/_source/session3/Workcell-XACRO.html
创建了 XACRO文件
文件下载处:https://github.com/harrycomeon/apriltags2_ros-and-ur5/tree/master/apriltags2_launch/urdf
并创建了urdf.launch文件在rviz上加载模型,如下:
<launch>
<arg name="gui" default="true"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find myworkcell_support)/urdf/workcell.xacro'" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg gui)"/>
</node>
<node name="rviz" pkg