URDF机器人模型ROS1&2案例

2020版如下：

☞  ROS机器人URDF建模

这里，简单补充一下win10/11版本的。

      **********************************************************************
      ** Visual Studio 2019 Developer Command Prompt v16.9.3
      ** Copyright (c) 2021 Microsoft Corporation
      **********************************************************************
      C:\ros_ws>cd urdf_tutorial
      C:\ros_ws\urdf_tutorial>colcon build
      [2.418s] root DEBUG Using proactor: IocpProactor
      Starting >>> urdf_tutorial
      Finished <<< urdf_tutorial [5.92s]
      Summary: 1 package finished [6.26s]
      C:\ros_ws\urdf_tutorial>
  
 

  
 
 

galactic：

      from ament_index_python.packages import get_package_share_path
      from launch import LaunchDescription
      from launch.actions import DeclareLaunchArgument
      from launch.conditions import IfCondition, UnlessCondition
      from launch.substitutions import Command, LaunchConfiguration
      from launch_ros.actions import Node
      from launch_ros.parameter_descriptions import ParameterValue
      def generate_launch_description():
          urdf_tutorial_path = get_package_share_path('urdf_tutorial')
          default_model_path = urdf_tutorial_path / 'urdf/01-myfirst.urdf'
          default_rviz_config_path = urdf_tutorial_path / 'rviz/urdf.rviz'
          gui_arg = DeclareLaunchArgument(name='gui', default_value='true', choices=['true', 'false'],
                                          description='Flag to enable joint_state_publisher_gui')
          model_arg = DeclareLaunchArgument(name='model', default_value=str(default_model_path),
                                            description='Absolute path to robot urdf file')
          rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=str(default_rviz_config_path),
                                           description='Absolute path to rviz config file')
          robot_description = 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}]
          )
         # Depending on gui parameter, either launch joint_state_publisher or joint_state_publisher_gui
          joint_state_publisher_node = Node(
              package='joint_state_publisher',
              executable='joint_state_publisher',
              condition=UnlessCondition(LaunchConfiguration('gui'))
          )
          joint_state_publisher_gui_node = Node(
              package='joint_state_publisher_gui',
              executable='joint_state_publisher_gui',
              condition=IfCondition(LaunchConfiguration('gui'))
          )
          rviz_node = Node(
              package='rviz2',
              executable='rviz2',
              name='rviz2',
              output='screen',
              arguments=['-d', LaunchConfiguration('rvizconfig')],
          )
         return LaunchDescription([
              gui_arg,
              model_arg,
              rviz_arg,
              joint_state_publisher_node,
              joint_state_publisher_gui_node,
              robot_state_publisher_node,
              rviz_node
          ])
  
 

  
 
 

注意和foxy版本差异性！

      import launch
      from launch.substitutions import Command, LaunchConfiguration
      import launch_ros
      import os
      def generate_launch_description():
          pkg_share = launch_ros.substitutions.FindPackageShare(package='urdf_tutorial').find('urdf_tutorial')
          default_model_path = os.path.join(pkg_share, 'urdf/01-myfirst.urdf')
          default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf.rviz')
          robot_state_publisher_node = launch_ros.actions.Node(
              package='robot_state_publisher',
              executable='robot_state_publisher',
              parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
          )
          joint_state_publisher_node = launch_ros.actions.Node(
              package='joint_state_publisher',
              executable='joint_state_publisher',
              name='joint_state_publisher',
              condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui'))
          )
          joint_state_publisher_gui_node = launch_ros.actions.Node(
              package='joint_state_publisher_gui',
              executable='joint_state_publisher_gui',
              name='joint_state_publisher_gui',
              condition=launch.conditions.IfCondition(LaunchConfiguration('gui'))
          )
          rviz_node = launch_ros.actions.Node(
              package='rviz2',
              executable='rviz2',
              name='rviz2',
              output='screen',
              arguments=['-d', LaunchConfiguration('rvizconfig')],
          )
         return launch.LaunchDescription([
              launch.actions.DeclareLaunchArgument(name='gui', default_value='True',
                                                   description='Flag to enable joint_state_publisher_gui'),
              launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path,
                                                   description='Absolute path to robot urdf file'),
              launch.actions.DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
                                                   description='Absolute path to rviz config file'),
              joint_state_publisher_node,
              joint_state_publisher_gui_node,
              robot_state_publisher_node,
              rviz_node
          ])
  
 

  
 
 

两点提示：

输入：

path = "/Users/krunal/Desktop/code/" print(os.path.join(path, "pyt", "database", "app.py")) 
 

输出：

/Users/krunal/Desktop/code/pyt/database/app.py
 

SyntaxError

    default_model_path = os.path.join('C:\ros_ws\urdf_tutorial\src', 'urdf\01-myfirst.urdf')                                                                  ^                                                                                 SyntaxError: (unicode error) 'unicodeescape' codec can't decode bytes in position 9-10: truncated \uXXXX escape  
 

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文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。

原文链接：zhangrelay.blog.csdn.net/article/details/123365594