Difference between revisions of "Turtlebot3 URDF Editing 20240524"
From wikidb
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Try: sudo apt install <deb name> | Try: sudo apt install <deb name> | ||
</pre> | </pre> | ||
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| + | Or maybe just: To be tested | ||
| + | ros2 launch turtlebot3_bringup robot.launch.py | ||
= Tools = | = Tools = | ||
Revision as of 11:52, 27 May 2024
Contents
References
Main References
Other
Installing urdf_tutorial
$ sudo apt install ros-humble-urdf-tutorial [sudo] password for eepp: Reading package lists... Done Building dependency tree... Done Reading state information... Done The following packages were automatically installed and are no longer required: libwpe-1.0-1 libwpebackend-fdo-1.0-1 Use 'sudo apt autoremove' to remove them. The following additional packages will be installed: ros-humble-joint-state-publisher ros-humble-joint-state-publisher-gui ros-humble-urdf-launch The following NEW packages will be installed: ros-humble-joint-state-publisher ros-humble-joint-state-publisher-gui ros-humble-urdf-launch ros-humble-urdf-tutorial 0 upgraded, 4 newly installed, 0 to remove and 454 not upgraded. Need to get 773 kB of archives. After this operation, 1,222 kB of additional disk space will be used. Do you want to continue? [Y/n] Y Get:1 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-joint-state-publisher amd64 2.4.0-1jammy.20240517.174241 [16.1 kB] Get:2 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-joint-state-publisher-gui amd64 2.4.0-1jammy.20240517.174502 [15.5 kB] Get:3 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-urdf-launch amd64 0.1.1-1jammy.20240517.212028 [6,438 B] Get:4 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-urdf-tutorial amd64 1.1.0-1jammy.20240517.212335 [735 kB] Fetched 773 kB in 1s (915 kB/s) Selecting previously unselected package ros-humble-joint-state-publisher. (Reading database ... 314116 files and directories currently installed.) Preparing to unpack .../ros-humble-joint-state-publisher_2.4.0-1jammy.20240517.1 74241_amd64.deb ... Unpacking ros-humble-joint-state-publisher (2.4.0-1jammy.20240517.174241) ... Selecting previously unselected package ros-humble-joint-state-publisher-gui. Preparing to unpack .../ros-humble-joint-state-publisher-gui_2.4.0-1jammy.202405 17.174502_amd64.deb ... Unpacking ros-humble-joint-state-publisher-gui (2.4.0-1jammy.20240517.174502) .. . Selecting previously unselected package ros-humble-urdf-launch. Preparing to unpack .../ros-humble-urdf-launch_0.1.1-1jammy.20240517.212028_amd6 4.deb ... Unpacking ros-humble-urdf-launch (0.1.1-1jammy.20240517.212028) ... Selecting previously unselected package ros-humble-urdf-tutorial. Preparing to unpack .../ros-humble-urdf-tutorial_1.1.0-1jammy.20240517.212335_am d64.deb ... Unpacking ros-humble-urdf-tutorial (1.1.0-1jammy.20240517.212335) ... Setting up ros-humble-joint-state-publisher (2.4.0-1jammy.20240517.174241) ... Setting up ros-humble-joint-state-publisher-gui (2.4.0-1jammy.20240517.174502) . .. Setting up ros-humble-urdf-launch (0.1.1-1jammy.20240517.212028) ... Setting up ros-humble-urdf-tutorial (1.1.0-1jammy.20240517.212335) ...
Test Run
$ ros2 launch urdf_tutorial display.launch.py model:=/home/eepp/turtlebot3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.urdf [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-05-24-11-49-45-781551-adams-7966 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [7968] [INFO] [joint_state_publisher_gui-2]: process started with pid [7970] [INFO] [rviz2-3]: process started with pid [7972] [rviz2-3] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [robot_state_publisher-1] [INFO] [1716576585.961610516] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1716576585.961690756] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1716576585.961699112] [robot_state_publisher]: got segment base_scan [robot_state_publisher-1] [INFO] [1716576585.961704997] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-1] [INFO] [1716576585.961710258] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-1] [INFO] [1716576585.961715547] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1716576585.961720610] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-1] [INFO] [1716576585.961725931] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-1] [INFO] [1716576585.961730857] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-1] [INFO] [1716576585.961735832] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher-1] [INFO] [1716576585.961740778] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1716576585.961746293] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-1] [INFO] [1716576585.961752376] [robot_state_publisher]: got segment wheel_right_link [joint_state_publisher_gui-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [rviz2-3] [INFO] [1716576586.227491510] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1716576586.227546765] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-3] [INFO] [1716576586.240909522] [rviz2]: Stereo is NOT SUPPORTED [joint_state_publisher_gui-2] [INFO] [1716576586.360249499] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [joint_state_publisher_gui-2] [INFO] [1716576586.367835448] [joint_state_publisher]: Centering [joint_state_publisher_gui-2] [INFO] [1716576586.438988982] [joint_state_publisher]: Centering ^C
Help
TF Setting
You can manage the amount of clutter in redering using TF Setting in the Display Window. Select and deselect the following check boxes:
- Show Names
- Show Axes
- Show Arrows
Robot Model Error
- "No transform from front left wheel to base link"
- [https://answers.ros.org/question/365391/rviz-status-error-no-transform/
in new Terminal
$ launch turtlebot3_bringup turtlebot3_model.launch Command 'launch' not found, did you mean: command 'launchy' from deb ruby-launchy (2.5.0-3) command '0launch' from deb 0install-core (2.16-2) command 'launchn' from deb csmith (2.3.0-6build1) Try: sudo apt install <deb name>
Or maybe just: To be tested
ros2 launch turtlebot3_bringup robot.launch.py
Tools
Check URDF
$ check_urdf /home/eepp/turtlebot3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.urdf
robot name is: turtlebot3_waffle
---------- Successfully Parsed XML ---------------
root Link: base_footprint has 1 child(ren)
child(1): base_link
child(1): camera_link
child(1): camera_depth_frame
child(1): camera_depth_optical_frame
child(2): camera_rgb_frame
child(1): camera_rgb_optical_frame
child(2): caster_back_left_link
child(3): caster_back_right_link
child(4): imu_link
child(5): base_scan
child(6): wheel_left_link
child(7): wheel_right_link
