经过前面两篇已经成功导出ROS的urdf 包。开启关节控制器(joint_state_publisher_gui)需要修改一下display.launch文件:
<launch>
<arg
name="model" />
<arg
name="gui"
default="True" />
<param
name="robot_description"
textfile="$(find EC66)/urdf/EC66.urdf" />
<param
name="use_gui"
value="$(arg gui)" />
<node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
type="joint_state_publisher_gui" />
<node
name="robot_state_publisher"
pkg="robot_state_publisher"
type="robot_state_publisher" />
<node
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find EC66)/urdf.rviz" />
</launch>