创建工作空间
mkdir -p ~/ros_test/src
cd ~ros_test/src
catkin_init_workspace
cd ..
catkin_make
创建机器人模型功能包
catkin_create_pkg robot_test
创建urdf以及launch文件
cd ~/ros_test/src/robot_test/src
mkdir urdf luanch
cd urdf
touch dd_robot.urdf
cd launch
touch robot_rviz.launch
在dd_robot.urdf中添加
<?xml version='1.0'?>
<robot name="dd_robot">
<!-- Base Link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.5 0.5 0.25" />
</geometry>
</visual>
</link>
</robot>
在launch文件中添加
<launch>
<param name="robot_description" textfile="$(find robot_test)/urdf/dd_robot.urdf" />
<param name="use_gui" value="true" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot_test)/urdf.rviz" required="true" />
</launch>
RVIZ中添加
(1)add下添加robot
(2)add下添加TF
(3)gloable下添加base_link