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mhubiimhubii
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added view robot launch sample
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5 files changed

+279
-1
lines changed

5 files changed

+279
-1
lines changed

‎CMakeLists.txt‎

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@@ -10,7 +10,7 @@ find_package(ament_cmake REQUIRED)
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# install
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install(
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DIRECTORY config meshes urdf
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DIRECTORY config launch meshes rviz urdf
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DESTINATION share/${PROJECT_NAME}
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)
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‎README.md‎

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# KUKA LBR IIWA 7 Description
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Launch an example using
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```shell
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ros2 launch \
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iiwa7_description \
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view_robot.launch.py
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```

‎launch/view_robot.launch.py‎

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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import (
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Command,
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FindExecutable,
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LaunchConfiguration,
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PathSubstitution,
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)
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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return LaunchDescription(
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[
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DeclareLaunchArgument(
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name="robot_name",
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default_value="lbr",
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description="The robot's name. Links in the tf tree will be prefixed as <robot_name>_link. Same applies to joints.",
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),
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Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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name="robot_state_publisher",
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output="screen",
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parameters=[
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{
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"robot_description": Command(
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[
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FindExecutable(name="xacro"),
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" ",
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PathSubstitution(FindPackageShare("iiwa7_description"))
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/ "urdf"
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/ "iiwa7.urdf.xacro",
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" robot_name:=",
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LaunchConfiguration("robot_name"),
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]
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)
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},
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],
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),
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Node(
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package="joint_state_publisher_gui",
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executable="joint_state_publisher_gui",
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name="joint_state_publisher_gui",
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output="screen",
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),
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Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="screen",
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arguments=[
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[
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"-d",
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PathSubstitution(FindPackageShare("iiwa7_description"))
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/ "rviz"
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/ "view_robot.rviz",
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]
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],
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),
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]
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)

‎package.xml‎

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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>

‎rviz/view_robot.rviz‎

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Panels:
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- Class: rviz_common/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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Splitter Ratio: 0.5
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Tree Height: 544
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz_common/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz_default_plugins/RobotModel
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Collision Enabled: false
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Description File: ""
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Description Source: Topic
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Description Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /robot_description
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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lbr_link_0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_ee:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: lbr_link_0
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_pose
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 3.3154795169830322
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.07972976565361023
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Y: -0.08040270209312439
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Z: 0.30934226512908936
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.375398188829422
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 1.0853984355926514
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 835
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd000000040000000000000163000002bdfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002c000002bd000000e300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bdfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002c000002bd000000c600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000023f00fffffffb0000000800540069006d006501000000000000045000000000000000000000023c000002bd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1200
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X: 60
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Y: 33

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