URDF文件的生成和编写(四)

安装join_state_publisher软件包

sudo apt install ros-indigo-joint-state-publisher

安装urdf_tutorial软件包

sudo apt install ros-indigo-urdf-tutorial

检查是否安装某个ROS软件包

rospack list | grep XXX
rospack list | grep urdf tutorial

安装liburdfdom-stools工具，检查urdf文件是否有错误

sudo apt-get install liburdfdom-tools

通过check_urdf来检查urdf文件

rospack find baxter_description
cd ~/baxter_ws/src/baxter_common/baxter_description
check_urdf baxter.urdf

输出

robot name is: baxter
---------- Successfully Parsed XML ---------------
root Link: base has 3 child(ren)
    child(1):  collision_head_link_1
    child(2):  collision_head_link_2
    child(3):  torso
        child(1):  head
            child(1):  dummyhead1
            child(2):  head_camera
            child(3):  screen
                child(1):  display
        child(2):  left_arm_m