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Hey guys,

so far i have been using gazebo to simulate my algorithms (and then simulating the results in Gazebo), but now i have a real robot available and i wanted to know how i can load the urdf model (so i can see it in "rviz" and profit of the links to "tf ") without using the spawn robot launch file:

<node name="robot_spawner" pkg="gazebo_ros" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model mobile_base"/> 

of gazebo_ros (because this launch script also launches gazebo).

Any suggestion would be very appreciated

Marcus


Originally posted by Marcus on ROS Answers with karma: 164 on 2014-10-31

Post score: 0

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1 Answer 1

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That launch command assumes that the urdf has been written to the parameter robot_description. In Rviz, add a RobotModel to the displays with the topic robot_description (should be the default).


Originally posted by David Lu with karma: 10932 on 2014-10-31

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by Marcus on 2014-11-02:
Thanks David, that worked perfectly.

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