sudo apt-get install ros-$ROS_DISTRO-joint-state-publisher-*
sudo apt-get install ros-humble-xacro
sudo apt-get install ros-humble-gazebo-ros
sudo apt-get install ros-humble-ros2-control
sudo apt-get install ros-humble-ros2-controllers
sudo apt-get install ros-humble-gazebo-ros2-control
sudo apt-get install ros-humble-moveitSecure and reliable communications
![[Pasted image 20240312144842.png]]
ros2 launch urdf_tutorial display.launch.py model:=/full_path/bot.urdf.xacro ros2 param set <node_name> <param_name> <value>
ros2 run <node_name> --ros-args -p <param_name>:=value>
💀⚡NOTE: Always source the workspace before do anything, this help with the autocompletion of topics, params, nodes, etc... also help to find the packages created in the workspace
Terminal 1
ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:="$(xacro </path/model/of/urdf.xacro>)"Terminal 2
ros2 run joint_state_publisher_gui joint_state_publisher_guiTerminal 3
ros2 run rviz2 rviz2 from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch_ros.parameter_descriptions import ParameterValue
from launch import LaunchDescription
from launch.substitutions import Command, LaunchConfiguration
import os
from ament_index_python.packages import get_package_share_directory
import shlex
def generate_launch_description():
model_arg = DeclareLaunchArgument(
name="model",
default_value=os.path.join(
get_package_share_directory("robot_description"),
"urdf/bot.urdf.xacro",
),
description="Absolute path to the urdf file",
)
robot_description: ParameterValue = ParameterValue(
Command(["xacro ", LaunchConfiguration("model")])
)
joint_state_publisher: Node = Node(
package="joint_state_publisher",
executable="joint_state_publisher",
parameters=[{"robot_description": robot_description}],
name="robot_state_publisher",
)
joint_state_publisher_gui: Node = Node(
package="joint_state_publisher_gui",
executable="joint_state_publisher_gui",
)
rviz_node: Node = Node(
executable="rviz2",
package="rviz2",
arguments=[
"-d",
os.path.join(
get_package_share_directory("robot_description"),
"rviz",
"display.rviz",
),
],
name="rviz2",
output="screen",
)
return LaunchDescription(
[model_arg, joint_state_publisher, joint_state_publisher_gui, rviz_node]
)
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