ros2 RVIZ2的使用

文件目录结构

CmakeLists

cmake_minimum_required(VERSION 3.8)
project(cpp06_urdf)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
install(DIRECTORY launch rviz urdf meshes  
        DESTINATION share/${PROJECT_NAME}
        )
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>cpp06_urdf</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="slh@todo.todo">slh</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>ros2launch</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>  
<exec_depend>rviz2</exec_depend> 
<depend>rclcpp</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

xxx.urdf

 <robot name="helloworld">
    <link name="base_link">
        <visual>
            <geometry>
                <box size="1.0  0.5 0.1"/>
            </geometry>
        </visual>
        
    </link>
 </robot>

urdf文件存放在 功能包/urdf/urdf 下

xxx.launch.py

import os
from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from launch_ros.parameter_descriptions import ParameterValue
from launch.substitutions import Command,LaunchConfiguration 
from launch.actions import DeclareLaunchArgument

launch_ros.parameter_descriptions import ParameterValue
from launch import LaunchDescription
from launch_ros.actions import Node
import os
from ament_index_python.packages import get_package_share_directory
from launch_ros.parameter_descriptions import ParameterValue
from launch.substitutions import Command,LaunchConfiguration
from launch.actions import DeclareLaunchArgument

#示例：ros2 launch cpp06_urdf display.launch.py model:=`ros2 pkg prefix --share cpp06_urdf`/urdf/urdf/urdf文件名及后缀
def generate_launch_description():

    cpp06_urdf_dir = get_package_share_directory("这里替换你打功能包名称")
    default_model_path = os.path.join(功能包名称_dir,"urdf/urdf","urdf文件名和后缀")
    default_rviz_path = os.path.join(功能包名称_dir,"rviz","display.rviz")
    model = DeclareLaunchArgument(name="model", default_value=default_model_path)

    # 加载机器人模型
    # 1.启动 robot_state_publisher 节点并以参数方式加载 urdf 文件
    robot_description = ParameterValue(Command(["xacro ",LaunchConfiguration("model")]))
    robot_state_publisher = Node(
        package="robot_state_publisher",
        executable="robot_state_publisher",
        parameters=[{"robot_description": robot_description}]
    )
    # 2.启动 joint_state_publisher 节点发布非固定关节状态
    joint_state_publisher = Node(
        package="joint_state_publisher_gui",
        executable="joint_state_publisher_gui"
    )
    # rviz2 节点
    rviz2 = Node(
        package="rviz2",
        executable="rviz2"
        # arguments=["-d", default_rviz_path]
    )
    return LaunchDescription([
        model,
        robot_state_publisher,
        joint_state_publisher,
        rviz2
    ])