This repo contains simple URDF robot definition and control of it via C++ joint state publisher
Prober - is a robot designed to explore unknown terrains by probing ground, processing samples, and transmitting them to the base station.
Thus it consists of:
- Mobile platform - to reach the target location
- Probe - to perform an experiment
- Radar - to transmit the results
Here is the Prober robot in Rviz:
URDF graph for the Prober:
And here is a ROS graph when create_robot.launch
is running:
As we can see here, /joint_position_controller
publishes Prober's current joint state into the /joint_states
topic. At the same time /robot_state_publisher
is listenning for messages in /joint_states
, and if a message arrives, it converts it into /tf
format which is consumed by Rviz.
- Add the
urdf_prober_robot
package to yourcatkin_ws/src
- Execute
catkin_make && source devel/setup.bash
- Execute
roslaunch urdf_prober_robot create_robot.launch
If you want to generate the URDF graph use those commands:
rosrun xacro xacro robot.urdf > model.urdf
urdf_to_graphiz model.urdf
1.
makes sure no Xacro macroses are left in the robot.urdf and 2.
produces the model.pdf
file