Couldnt add robot model and TF in rviz

[rosacc387]

I have started " URDF for Robot Modeling" course yesterday. In unit 1 while after creating URDF file for mira robot and creating the launch file , I am not able to add the Robot model and TF in rviz. Can anyone please help me.

[duckfrost2]

Hi,

Could you be a bit more specific ? Is because many things could be wrong.
In the first example you should get something like this:

With this command:

roslaunch my_mira_description urdf_visualize.launch model:=‘$(find my_mira_description)/urdf/mira_simple.urdf’

With these files:

urdf_visualize.launch

<launch>

  <!-- USE: roslaunch my_mira_description urdf_visualize.launch model:='$(find myrobot_package)/urdf/myrobot.urdf' -->
  <arg name="model" default=""/>


  <param name="robot_description" command="cat $(arg model)" />

  <!-- send fake joint values -->
  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>

  <!-- Combine joint values -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

  <!-- Show in Rviz   -->
  <!--<node name="rviz" pkg="rviz" type="rviz" args="-d $(find my_mira_description)/rviz_config/urdf.rviz"/>-->
  <node name="rviz" pkg="rviz" type="rviz" args=""/>

</launch>

mira_simple.urdf’

<?xml version="1.0"?>
<robot name="mira">

    <material name="green">
        <color rgba="0 0.8 0 1"/>
    </material>

    <link name="base_link">
        <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <cylinder radius="0.06" length="0.09"/>
        </geometry>
        <material name="green"/>
        </visual>
    </link>
  
    <link name="roll_M1_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <cylinder radius="0.06" length="0.09"/>
            </geometry>
        </visual>
    </link>
    
    <joint name="roll_joint" type="revolute">
        <parent link="base_link"/>
        <child link="roll_M1_link"/>
        <origin xyz="0.0023 0 -0.0005" rpy="0 0 0"/>
        <limit lower="-0.2" upper="0.2" effort="0.1" velocity="0.005"/>
        <axis xyz="1 0 0"/>
    </joint>
  
</robot>

If you followed the instructions of the notebook you should be able to obtain this. Remember to change the fixed frame in RVIZ to base_link

[rosacc387]

After launching the launch file iam getting this

can you tell me what to do next

[duckfrost2]

Hi,

You have to add the robot model element, an the TF element in RVIZ. There is a button that says: ADD

There you have to add the element. I think that is explained in the notebook. You can also have a look at the section of debugging in ROS in 5 Days