Couldnt add robot model and TF in rviz

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.

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

After launching the launch file iam getting this

can you tell me what to do next

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

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