【问题记录】可视化带有夹持器的机器人模型

文件来源UR3+robotip

roslaunch ur3_description display_with_gripper_hande.launch ur_robot:=ur5e

[ WARN] [1677555004.276034298]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead

解决办法

找到‘state_publisher’并用‘robot_state_publisher’去代替它。

文件位置：display_with_gripper_hande.launch

打开后修改其中的文件：把‘state_publisher’改为‘robot_state_publisher’

参考

http://t.csdn.cn/Jdisr

[WARN] [1677555004.695668]: The 'use_gui' parameter was specified, which is deprecated. We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that. This backwards compatibility option will be removed in Noetic.

解决办法

需要修改运行joint_state_publisher节点，发布机器人的关节状态 的代码,

原来代码是<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

修改后是 <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />

然后在source一下setup.bash,运行launch文件,就可以出现一个gui和rviz界面,rviz显示的是创建好的机器人模型.如下图所示

source ./devel/setup.bash

roslaunch ur3_description display_with_gripper_hande.launch ur_robot:=ur5e

参考

http://t.csdn.cn/24D5a

文件解锁

sudo chmod -R 777 【文件路径】

参考

http://t.csdn.cn/MWByf