ros2 humble的 urdf模型及在rviz中显示的第一个入门例子

1、RViz2显示URDF模型，必要的节点及通信

  节点joint-state-publisher输入urdf模型，发布话题/robot_description和 /joint_states。

 节点robot-state-publisher订阅话题/robot_description和 /joint_states。发布/tf和/tf_static。

   RViz2的一个节点/transform_listener_impl_* ，RViz2根据/robot_description，/tf和/tf_static显示模型。

 

 

 

 

 

2、安装节点joint-state-publisher和节点robot-state-publisher

sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui ros-$ROS_DISTRO-robot-state-publisher

3、创建WS和包

命令	mkdir -p ros2-urdf-tutorial-ws/src cd  ./ros2-urdf-tutorial-ws/src ros2 pkg create --build-type ament_cmake --license Apache-2.0 urdf_tutorial cd ./urdf_tutorial mkdir -p urdf mkdir -p launch mkdir -p rviz cd .. cd ..

 

 

 

 

 

 

 

 

 

包urdf_tutorial内完整的文件结构 

└── urdf_tutorial
    ├── CMakeLists.txt
    ├── images
    │   ├── flexible.png
    │   └── visual.png
    ├── include
    │   └── urdf_tutorial
    ├── launch
    │   └── display.launch.py
    ├── LICENSE
    ├── meshes
    │   ├── l_finger_color.png
    │   └── l_finger_tip.dae
    ├── package.xml
    ├── rviz
    │   └── urdf.rviz
    ├── src
    └── urdf
        ├── 01-myfirst.urdf
        ├── 02-multipleshapes.urdf
        ├── 03-origins.urdf
        ├── 04-materials.urdf
        ├── 05-visual.urdf
        ├── 06-flexible.urdf
        ├── 07-physics.urdf
        ├── 08-macroed.urdf.xacro
        └── 09-two-dof.urdf

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

4、编写CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(urdf_tutorial)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
install(
  DIRECTORY images launch meshes rviz urdf
  DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

 

5、编写display.launch.py

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
    ld = LaunchDescription()

    urdf_tutorial_path = FindPackageShare('urdf_tutorial')
    default_model_path = PathJoinSubstitution(['urdf', '01-myfirst.urdf'])
    default_rviz_config_path = PathJoinSubstitution([urdf_tutorial_path, 'rviz', 'urdf.rviz'])

    # These parameters are maintained for backwards compatibility
    gui_arg = DeclareLaunchArgument(name='gui', default_value='true', choices=['true', 'false'],
                                    description='Flag to enable joint_state_publisher_gui')
    ld.add_action(gui_arg)
    rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
                                     description='Absolute path to rviz config file')
    ld.add_action(rviz_arg)

    # This parameter has changed its meaning slightly from previous versions
    ld.add_action(DeclareLaunchArgument(name='model', default_value=default_model_path,
                                        description='Path to robot urdf file relative to urdf_tutorial package'))

    ld.add_action(IncludeLaunchDescription(
        PathJoinSubstitution([FindPackageShare('urdf_launch'), 'launch', 'display.launch.py']),
        launch_arguments={
            'urdf_package': 'urdf_tutorial',
            'urdf_package_path': LaunchConfiguration('model'),
            'rviz_config': LaunchConfiguration('rvizconfig'),
            'jsp_gui': LaunchConfiguration('gui')}.items()
    ))

    return ld

 

6、通过AI工具，生成一个2自由度机械臂纯URDF，命名09-two-dof.urdf

7、补充其他代码

下载 urdf_tutorial package 代码。 https://files.cnblogs.com/files/blogs/760881/ros2-urdf-tutorial-master.zip?t=1787908394&download=true

官网教程网址：https://docs.ros.org/en/humble/  具体参考下图。

 

 

8、运行URDF作仿真

source install/setup.bash

ros2 launch urdf_tutorial display.launch.py model:=urdf/09-two-dof.urdf

 

 

 

继续 反复练习