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TOC
ros packages for modeling
URDF model and code
Xacro model
robot description
create rotot descroption using ros paclages for robot modeling
Gazebo is a 3D rigid-body physics simulator (including a graphical interfacE).
物理仿真环境
rviz is a tool for 3D visualization of data from other ROS nodes as well as some support for sending commands to other ROS nodes.
可视化工具
packages
urdf
link
joint
robot
gazebo(not included in rviz)
View it in rviz
roslaunch decription_pkg view_demo.launch
use the joint state publisher to control
adding physical and collision properties to a urdf model
joint_state_publisher
controling sliders
kdl_parser
xacro
with complex robot models
urdf的方便之处在于,一套模型可以有多种配置,但是想要将这套模型与另一套模型耦合起来的时候就很麻烦了,xarco就是为了这个而产生的
xarco包含变量,常亮,数学表达式,条件语句等等提供灵活性的东西
优点在于,简化和可编程性
robot_state_publisher
After discussing the robot model,we can view the designed xacro file in RViz and
control each joint using the joint state publisher node and publish the robot
state using the Robot State Publisher.
the two publishers
具体步骤
各个显示
编写xacro
全部显示出来
sudo apt-get install liburdfdom-tools
先做rviz可视化
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