创建URDF文件,就可以在rviz中实时观测底盘的移动。
创建包
cd ~/catkin_ws/src
catkin_create_pkg dash_describe std_msgs rospy roscpp
urdf文件
在urdf/dashbase目录下需要创建如下文件:
- materials.urdf.xacro 颜色属性
<?xml version="1.0"?>
<robot>
<!-- Put all the color definitions in a separate file -->
<material name="Black">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="TransparentBlack">
<color rgba="0.2 0.2 0.2 0.8"/>
</material>
<material name="Orange">
<color rgba="1.0 0.55 0.0 1.0"/>
</material>
<material name="Grey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<material name="DarkGrey">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="OffWhite">
<color rgba="0.8 0.8 0.8 1.0"/>
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name=