How can you place two objects that seem to overlap with their units but appear stacked on top of each other [original intent] in RViz?
I was watching this video tutorial on ROS and URDF. I have tried to paste screenshots to clarify but feel free to watch the video if you have the time. The presenter is showing how to create a joint between
base link and
link 01 in the first image below.
xacro file that I am confused about. If the
xyz coordinates of the origin of the box are
[0 0 0] and its dimensions are
[1 1 1], how can the cylinder have its origin at
[0 0 0.2]? Isn't it within the box?
I considered that the
xyz coordinates may be relative to the link itself but where does RViz know where to place the object in the world? Moreover, the joint is placed at
[0 0 0.5] and this makes sense. Shouldn't the origin of the cylinder have been
[0 0 1.2]? This is how it looks like in RViz.