URDF机器人模型ROS1&2案例
【摘要】
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 Pro...
2020版如下：
这里，简单补充一下win10/11版本的。
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**********************************************************************
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** Visual Studio 2019 Developer Command Prompt v16.9.3
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** Copyright (c) 2021 Microsoft Corporation
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**********************************************************************
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C:\ros_ws>cd urdf_tutorial
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C:\ros_ws\urdf_tutorial>colcon build
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[2.418s] root DEBUG Using proactor: IocpProactor
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Starting >>> urdf_tutorial
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Finished <<< urdf_tutorial [5.92s]
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Summary: 1 package finished [6.26s]
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C:\ros_ws\urdf_tutorial>
galactic：
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from ament_index_python.packages import get_package_share_path
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition, UnlessCondition
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from launch.substitutions import Command, LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterValue
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def generate_launch_description():
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urdf_tutorial_path = get_package_share_path('urdf_tutorial')
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default_model_path = urdf_tutorial_path / 'urdf/01-myfirst.urdf'
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default_rviz_config_path = urdf_tutorial_path / 'rviz/urdf.rviz'
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gui_arg = DeclareLaunchArgument(name='gui', default_value='true', choices=['true', 'false'],
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description='Flag to enable joint_state_publisher_gui')
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model_arg = DeclareLaunchArgument(name='model', default_value=str(default_model_path),
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description='Absolute path to robot urdf file')
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rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=str(default_rviz_config_path),
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description='Absolute path to rviz config file')
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robot_description = ParameterValue(Command(['xacro ', LaunchConfiguration('model')]),
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value_type=str)
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robot_state_publisher_node = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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parameters=[{'robot_description': robot_description}]
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)
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# Depending on gui parameter, either launch joint_state_publisher or joint_state_publisher_gui
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joint_state_publisher_node = Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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condition=UnlessCondition(LaunchConfiguration('gui'))
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)
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joint_state_publisher_gui_node = Node(
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package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui',
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condition=IfCondition(LaunchConfiguration('gui'))
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)
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rviz_node = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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output='screen',
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arguments=['-d', LaunchConfiguration('rvizconfig')],
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)
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return LaunchDescription([
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gui_arg,
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model_arg,
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rviz_arg,
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joint_state_publisher_node,
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joint_state_publisher_gui_node,
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robot_state_publisher_node,
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rviz_node
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])
注意和foxy版本差异性！
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import launch
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from launch.substitutions import Command, LaunchConfiguration
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import launch_ros
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import os
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def generate_launch_description():
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pkg_share = launch_ros.substitutions.FindPackageShare(package='urdf_tutorial').find('urdf_tutorial')
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default_model_path = os.path.join(pkg_share, 'urdf/01-myfirst.urdf')
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default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf.rviz')
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robot_state_publisher_node = launch_ros.actions.Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
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)
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joint_state_publisher_node = launch_ros.actions.Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher',
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condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui'))
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)
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joint_state_publisher_gui_node = launch_ros.actions.Node(
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package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui',
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name='joint_state_publisher_gui',
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condition=launch.conditions.IfCondition(LaunchConfiguration('gui'))
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)
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rviz_node = launch_ros.actions.Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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output='screen',
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arguments=['-d', LaunchConfiguration('rvizconfig')],
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)
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return launch.LaunchDescription([
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launch.actions.DeclareLaunchArgument(name='gui', default_value='True',
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description='Flag to enable joint_state_publisher_gui'),
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launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path,
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description='Absolute path to robot urdf file'),
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launch.actions.DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
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description='Absolute path to rviz config file'),
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joint_state_publisher_node,
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joint_state_publisher_gui_node,
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robot_state_publisher_node,
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rviz_node
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])
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
\\
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
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