ROS 发行版 jazzy 加载urdf 渲染到 RVIZ2
新版启动urdf需要两个包分别为urdf_tutorial、urdf_launch
配置package.xml
<exec_depend>rviz_common</exec_depend>
<exec_depend>rviz_default_plugins</exec_depend>
<exec_depend>rviz2</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_state_publisher_gui</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>launch_ros</exec_depend>
CMakeLists.txt配置
install(DIRECTORY launch worlds urdf meshes models rviz
DESTINATION share/${PROJECT_NAME})
launch.py 内容
from launch import LaunchDescription
from launch_ros.substitutions import FindPackageShare
from launch.actions import DeclareLaunchArgument,IncludeLaunchDescription
from launch.substitutions import PathJoinSubstitution,LaunchConfiguration,Command
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
from launch.conditions import IfCondition,UnlessCondition
import os
def generate_launch_description():
ld = LaunchDescription()
## 找到 项目 包
samll_turtle_dir = FindPackageShare("small_turtle")
## URDF Model 路径
urdf_model_path = PathJoinSubstitution([samll_turtle_dir,"urdf","small_turtle.urdf"])
## urdf_model_path = os.path.join(samll_turtle_dir,"urdf","small_turtle.urdf")
## rviz 配置文件路径
rviz_config_path = PathJoinSubstitution([samll_turtle_dir,"rviz","display.rviz"])
## joint_state_publisher_gui 配置
gui_arg = DeclareLaunchArgument(name="gui",default_value="true",choices=["true","false"],
description="Flag to enable joint_state_publisher_gui")
ld.add_action(gui_arg)
## 声明 rviz
rviz_arg = DeclareLaunchArgument(name="rvizconfig",default_value=rviz_config_path,
description="Absolute path to rviz config file")
ld.add_action(rviz_arg)
## 声明 urdf model
ld.add_action(DeclareLaunchArgument(name="model",default_value=urdf_model_path,
description="Path to robot urdf"))
## robot_state_publisher 配置
robot_description_content = ParameterValue(Command(["xacro ",LaunchConfiguration("model")]),value_type=str)
robot_state_publisher_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
parameters=[{"robot_description":robot_description_content}]
)
ld.add_action(robot_state_publisher_node)
## joint_state_publisher
joint_state_publisher_node = Node(
package="joint_state_publisher",
executable="joint_state_publisher",
condition=UnlessCondition(LaunchConfiguration("gui"))
)
ld.add_action(joint_state_publisher_node)
## joint_state_publisher_gui
joint_state_publisher_gui_node = Node(
package="joint_state_publisher_gui",
executable="joint_state_publisher_gui",
condition=IfCondition(LaunchConfiguration("gui"))
)
ld.add_action(joint_state_publisher_gui_node)
## rviz
rviz_node = Node(
package="rviz2",
executable="rviz2",
arguments=["-d",LaunchConfiguration("rvizconfig")],
output="screen"
)
ld.add_action(rviz_node)
return ld