On this page
URDF
Setup
clone this repo into an existing workspace:
git clone
https://github.com/joshnewans/my_bot.git
build with:
colcon build --symlink-install
test the launch file with:
ros2 launch my_bot rsp.launch.py
Note:
remember to runcolcon build --symlink-install
when adding any new files
Continue onto guide:
https://articulatedrobotics.xyz/tutorials/ready-for-ros/urdf
Note for debugging:
If in rviz you see there is an error in your RobotModel
where you don’t see the wheels.
This is because the wheels are joints that need an input.
We have to call joint_state_publisher
or joint_state_publisher_gui
to give the wheels a value.
broken:
After running joint_state_publisher
or joint_state_publisher_gui
The return of Exercises!!
make joint state publisher + joint state gui + rviz
in to a launch file