Neobotix urdf

Ros wiki:http://wiki.ros.org/Robots/neobotix
robot_description:http://wiki.ros.org/Robots/neobotix/neo_robot_descriptions

使用urdf 在rviz中进行仿真
创建空间

mkdir -p neo_description/src
cd neo_description
catkin_make
. devel/setup.bash

下载编译

cd src
git clone https://github.com/neobotix/neo_robot_descriptions.git
cd neo_robot_description
mkdir launch
cd ../..
catkin_make
. devel/setup.bash

launch 文件夹下添加launch 文件。
mp_400_1.launch

<launch>
    <arg name="model" />
    <arg name="gui" default="False" />
    <param name="robot_description" textfile="$(arg model)" />
    <param name="use_gui" value="$(arg gui)"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
    <node name="rviz" pkg="rviz" type="rviz" />
</launch>

启动：
将rviz fixed frame 改为base_link
添加robotmodel 和 TF 框架

roslaunch neo_robot_descriptions mp_400_1.launch model:="`rospack find neo_robot_descriptions`/mp_400/mp_400.urdf"

launch 文件夹下添加launch 文件。
mp_400_2.launch （注意添加urdf的方法）

<launch>
    <arg name="model" />
    <arg name="gui" default="False" />
    <param name="robot_description" textfile="$(find neo_robot_descriptions)/mp_400/mp_400.urdf" />
    <param name="use_gui" value="$(arg gui)"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
    <node name="rviz" pkg="rviz" type="rviz" />
</launch>

在rivz 中file -> save config as -> (定位到src/neo_robot_description) mp_400.rviz

完善launch 如下：

<launch>
    <arg name="model" />
    <arg name="gui" default="False" />
    <param name="robot_description" textfile="$(find neo_robot_descriptions)/mp_400/mp_400.urdf" />
    <param name="use_gui" value="$(arg gui)"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find neo_robot_descriptions)/mp_400.rviz"/>
</launch>

rostopic list
/clicked_point
/initialpose
/joint_states
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static

launch3

<launch>
    <arg name="model" default="$(find neo_robot_descriptions)/mp_400/mp_400.urdf"/>
    <arg name="gui" default="False" />
    <param name="robot_description" textfile="$(arg model)" />
    <param name="use_gui" value="$(arg gui)"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find neo_robot_descriptions)/mp_400.rviz"/>
</launch>