Neobotix urdf
来源:互联网 发布:导弹升级数据 编辑:程序博客网 时间:2024/06/06 17:59
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/srccd neo_descriptioncatkin_make. devel/setup.bash
下载编译
cd srcgit clone https://github.com/neobotix/neo_robot_descriptions.gitcd neo_robot_descriptionmkdir launchcd ../..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>
阅读全文
0 0
- Neobotix urdf
- URDF教程
- URDF gazebo7
- urdf ERROR
- ROS --urdf
- neobotix mpo_500 gazebo 仿真模型建立
- 初学URDF总结
- ros 安装 urdf 包
- Ros学习之---URDF
- urdf 学习与制作
- ROS知识点-URDF
- solidwork导出urdf文件
- ROS urdf学习笔记
- learning-urdf-01
- learning-urdf-02
- learning-urdf-03
- URDF文件相关
- ROS中URDF仿真
- 关于Android自动化测试
- 在Ubuntu中安装openssl
- nodeJS module理解
- groovy之范围特性
- 人类历史上首次,完全无人的谷歌无人车上路了!
- Neobotix urdf
- jupyter的TemplateAsstionErro和dead kernel
- 二叉树的层序遍历
- luogu 模拟题 青蛙叫
- oracle笔记08
- python用最小二乘法分析数据趋势以及做数据预测
- Eric Schmidt:面对未来和中国的AI竞争,美国需要团结
- 谷歌大脑负责人:深度学习需要至少十万个样本
- 安装golang项目的 GVM