Turtlebot3 URDF Editing 20240524

References

Main References

• URDF Humble Version 2024

Other

• Web-based URDF visualization tool and library opensourced from NASA JPL
• ROS URDF XML Specificaton
• URDF Tutorials 2016

Installing urdf_tutorial

• URDF Tutorial Install Log 20240524

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

Hints

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

Global Options

• Background Color

Make it white

Robot Model Error

• "No transform from front left wheel to base link"
• 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 bring up the Turtle3

 source scripts/bringup.sh

Or maybe just: To be tested (This must be pretty much the same as doing the bringup script

 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

urdf_to_graphiz Visualizer

• Model Dynamics & Sensors

 $ urdf_to_graphiz turtlebot3_waffle_nuc.urdf 
       WARNING: The executable named 'urdf_to_graphiz' is deprecated. Use 'urdf_to_graphviz' instead.
       WARNING: OUTPUT not given. This type of usage is deprecated!Usage: urdf_to_graphviz input.xml [OUTPUT]  Will create either $ROBOT_NAME.gv & $ROBOT_NAME.pdf in CWD  or OUTPUT.gv & OUTPUT.pdf.
       Created file turtlebot3_waffle.gv
       Created file turtlebot3_waffle.pdf

 $ evince turtlebot3_waffle.pdf

Modify the Waffle Model

Hack

This urdf file should be modified in a source area and copied here by the build system.

 $ cd turtlebot3_ws/src/turtlebot3/turtlebot3_description/urdf/

 $ ls
     common_properties.urdf  turtlebot3_waffle_pi.urdf
     turtlebot3_burger.urdf  turtlebot3_waffle.urdf

 $ cp turtlebot3_waffle.urdf turtlebot3_waffle_nuc.urdf

 $ ros2 launch urdf_tutorial display.launch.py model:=/home/eepp/turtlebot3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle_nuc.urdf

Note: change to turtlebot3_ws done by create a duplicate file. To be fixed