机器人系统ros2-开发学习实践15-模拟用 URDF 建模步行机器人行走示例

目标：

本教程将向您展示如何建模行走机器人、将状态发布为tf2消息并在 Rviz 中查看模拟。首先，我们创建描述机器人组件的 URDF 模型。接下来，我们编写一个节点来模拟运动并发布 JointState 和变换。然后我们使用robot_state_publisher将整个机器人状态发布到/tf2。

在这里插入图片描述

步骤流程：

创建包

创建目录：

mkdir -p second_ros2_ws/src

然后创建包：

cd second_ros2_ws/src
ros2 pkg create --build-type ament_python --license Apache-2.0 urdf_tutorial_r2d2 --dependencies rclpy
cd urdf_tutorial_r2d2

您现在应该会看到一个urdf_tutorial_r2d2文件夹。接下来，您将对其进行一些更改

2 创建 URDF 文件

mkdir -p urdf
在这里插入图片描述

写入urdf. 用vscode 打开目录，在新建r2d2.urdf ，代码如下：
在这里插入图片描述

<robot name="r2d2"><link name="axis"><visual><origin xyz="0 0 0" rpy="1.57 0 0" /><geometry><cylinder radius="0.01" length=".5" /></geometry><material name="gray"><color rgba=".2 .2 .2 1" /></material></visual><collision><origin xyz="0 0 0" rpy="1.57 0 0" /><geometry><cylinder radius="0.01" length=".5" /></geometry><contact_coefficients mu="0" kp="1000.0" kd="1.0"/></collision></link><link name="leg1"><inertial><mass value="1"/><inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3" /><origin/></inertial><visual><origin xyz="0 0 -.3" /><geometry><box size=".20 .10 .8" /></geometry><material name="white"><color rgba="1 1 1 1"/></material></visual><collision><origin xyz="0 0 -.3" /><geometry><box size=".20 .10 .8" /></geometry><contact_coefficients mu="0" kp="1000.0" kd="1.0"/></collision></link><joint name="leg1connect" type="fixed"><origin xyz="0 .30 0" /><parent link="axis"/><child link="leg1"/></joint><link name="leg2"><inertial><mass value="1"/><inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3" /><origin/></inertial><visual><origin xyz="0 0 -.3" /><geometry><box size=".20 .10 .8" /></geometry><material name="white"><color rgba="1 1 1 1"/></material></visual><collision><origin xyz="0 0 -.3" /><geometry><box size=".20 .10 .8" /></geometry><contact_coefficients mu="0" kp="1000.0" kd="1.0"/></collision></link><joint name="leg2connect" type="fixed"><origin xyz="0 -.30 0" /><parent link="axis"/><child link="leg2"/></joint><link name="body"><inertial><mass value="1"/><inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3" /><origin/></inertial><visual><origin xyz="0 0 -0.2" /><geometry><cylinder radius=".20" length=".6"/></geometry><material name="white"/></visual><collision><origin xyz="0 0 0.2" /><geometry><cylinder radius=".20" length=".6"/></geometry><contact_coefficients mu="0" kp="1000.0" kd="1.0"/></collision></link><joint name="tilt" type="revolute"><parent link="axis"/><child link="body"/><origin xyz="0 0 0" rpy="0 0 0" /><axis xyz="0 1 0" /><limit upper="0" lower="-.5" effort="10" velocity="10" /></joint><link name="head"><inertial><mass value="1"/><inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3" /><origin/></inertial><visual><geometry><sphere radius=".4" /></geometry><material name="white" /></visual><collision><origin/><geometry><sphere radius=".4" /></geometry><contact_coefficients mu="0" kp="1000.0" kd="1.0"/></collision></link><joint name="swivel" type="continuous"><origin xyz="0 0 0.1" /><axis xyz="0 0 1" /><parent link="body"/><child link="head"/></joint><link name="rod"><inertial><mass value="1"/><inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3" /><origin/></inertial><visual><origin xyz="0 0 -.1" /><geometry><cylinder radius=".02" length=".2" /></geometry><material name="gray" /></visual><collision><origin/><geometry><cylinder radius=".02" length=".2" /></geometry><contact_coefficients mu="0" kp="1000.0" kd="1.0"/></collision></link><joint name="periscope" type="prismatic"><origin xyz=".12 0 .15" /><axis xyz="0 0 1" /><limit upper="0" lower="-.5" effort="10" velocity="10" /><parent link="head"/><child link="rod"/></joint><link name="box"><inertial><mass value="1"/><inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3" /><origin/></inertial><visual><geometry><box size=".05 .05 .05" /></geometry><material name="blue" ><color rgba="0 0 1 1" /></material></visual><collision><origin/><geometry><box size=".05 .05 .05" /></geometry><contact_coefficients mu="0" kp="1000.0" kd="1.0"/></collision></link><joint name="boxconnect" type="fixed"><origin xyz="0 0 0" /><parent link="rod"/><child link="box"/></joint></robot>

上述urdf 说明：

r2d2 机器人模型
│
├── Link: axis
│   ├── Visual: Cylinder (radius: 0.01, length: 0.5, color: gray)
│   └── Collision: Cylinder (radius: 0.01, length: 0.5)
│
├── Link: leg1
│   ├── Inertial: mass=1, inertia=(1e-3, 1e-3, 1e-3)
│   ├── Visual: Box (size: 0.20, 0.10, 0.8, color: white)
│   └── Collision: Box (size: 0.20, 0.10, 0.8)
│
├── Joint: leg1connect (type: fixed)
│   ├── Parent: axis
│   └── Child: leg1
│
├── Link: leg2
│   ├── Inertial: mass=1, inertia=(1e-3, 1e-3, 1e-3)
│   ├── Visual: Box (size: 0.20, 0.10, 0.8, color: white)
│   └── Collision: Box (size: 0.20, 0.10, 0.8)
│
├── Joint: leg2connect (type: fixed)
│   ├── Parent: axis
│   └── Child: leg2
│
├── Link: body
│   ├── Inertial: mass=1, inertia=(1e-3, 1e-3, 1e-3)
│   ├── Visual: Cylinder (radius: 0.20, length: 0.6, color: white)
│   └── Collision: Cylinder (radius: 0.20, length: 0.6)
│
├── Joint: tilt (type: revolute)
│   ├── Parent: axis
│   └── Child: body
│
├── Link: head
│   ├── Inertial: mass=1, inertia=(1e-3, 1e-3, 1e-3)
│   ├── Visual: Sphere (radius: 0.4, color: white)
│   └── Collision: Sphere (radius: 0.4)
│
├── Joint: swivel (type: continuous)
│   ├── Parent: body
│   └── Child: head
│
├── Link: rod
│   ├── Inertial: mass=1, inertia=(1e-3, 1e-3, 1e-3)
│   ├── Visual: Cylinder (radius: 0.02, length: 0.2, color: gray)
│   └── Collision: Cylinder (radius: 0.02, length: 0.2)
│
├── Joint: periscope (type: prismatic)
│   ├── Parent: head
│   └── Child: rod
│
├── Link: box
│   ├── Inertial: mass=1, inertia=(1e-3, 1e-3, 1e-3)
│   ├── Visual: Box (size: 0.05, 0.05, 0.05, color: blue)
│   └── Collision: Box (size: 0.05, 0.05, 0.05)
│
└── Joint: boxconnect (type: fixed)├── Parent: rod└── Child: box

详细描述

Link: axis

Visual: 描述一个灰色的圆柱体，半径为0.01，长度为0.5。
Collision: 与Visual部分相同的圆柱体，用于碰撞检测。

Link: leg1
Inertial: 设置了质量为1的惯性属性。
Visual: 描述一个白色的长方体，尺寸为0.20x0.10x0.8。
Collision: 与Visual部分相同的长方体，用于碰撞检测。
Joint: leg1connect

Type: 固定关节。
Parent: axis。
Child: leg1。
Link: leg2

Inertial: 设置了质量为1的惯性属性。
Visual: 描述一个白色的长方体，尺寸为0.20x0.10x0.8。
Collision: 与Visual部分相同的长方体，用于碰撞检测。
Joint: leg2connect

Type: 固定关节。
Parent: axis。
Child: leg2。
Link: body

Inertial: 设置了质量为1的惯性属性。
Visual: 描述一个白色的圆柱体，半径为0.20，长度为0.6。
Collision: 与Visual部分相同的圆柱体，用于碰撞检测。
Joint: tilt

Type: 转动关节。
Parent: axis。
Child: body。
Link: head

Inertial: 设置了质量为1的惯性属性。
Visual: 描述一个白色的球体，半径为0.4。
Collision: 与Visual部分相同的球体，用于碰撞检测。
Joint: swivel

Type: 连续旋转关节。
Parent: body。
Child: head。
Link: rod

Inertial: 设置了质量为1的惯性属性。
Visual: 描述一个灰色的圆柱体，半径为0.02，长度为0.2。
Collision: 与Visual部分相同的圆柱体，用于碰撞检测。

Joint: periscope
Type: 伸缩关节。
Parent: head。
Child: rod。
Link: box
Inertial: 设置了质量为1的惯性属性。
Visual: 描述一个蓝色的长方体，尺寸为0.05x0.05x0.05。
Collision: 与Visual部分相同的长方体，用于碰撞检测。
Joint: boxconnect

Type: 固定关节。
Parent: rod。
Child: box。

配置rviz

在urdf 目录中继续新增rviz 配置文件 r2d2.rviz , 文件内容如下：

Panels:- Class: rviz_common/DisplaysHelp Height: 78Name: DisplaysProperty Tree Widget:Expanded:- /Global Options1- /Status1- /TF1- /RobotModel1- /RobotModel1/Description Topic1Splitter Ratio: 0.5Tree Height: 617- Class: rviz_common/SelectionName: Selection- Class: rviz_common/Tool PropertiesExpanded:- /2D Goal Pose1- /Publish Point1Name: Tool PropertiesSplitter Ratio: 0.5886790156364441- Class: rviz_common/ViewsExpanded:- /Current View1Name: ViewsSplitter Ratio: 0.5
Visualization Manager:Class: ""Displays:- Alpha: 0.5Cell Size: 1Class: rviz_default_plugins/GridColor: 160; 160; 164Enabled: trueLine Style:Line Width: 0.029999999329447746Value: LinesName: GridNormal Cell Count: 0Offset:X: 0Y: 0Z: 0Plane: XYPlane Cell Count: 10Reference Frame: <Fixed Frame>Value: true- Class: rviz_default_plugins/TFEnabled: trueFrame Timeout: 15Frames:All Enabled: trueaxis:Value: truebody:Value: truebox:Value: truehead:Value: trueleg1:Value: trueleg2:Value: trueodom:Value: truerod:Value: trueMarker Scale: 1Name: TFShow Arrows: trueShow Axes: trueShow Names: falseTree:odom:axis:body:head:rod:box:{}leg1:{}leg2:{}Update Interval: 0Value: true- Alpha: 1Class: rviz_default_plugins/RobotModelCollision Enabled: falseDescription File: ""Description Source: TopicDescription Topic:Depth: 5Durability Policy: VolatileHistory Policy: Keep LastReliability Policy: ReliableValue: /robot_descriptionEnabled: trueLinks:All Links Enabled: trueExpand Joint Details: falseExpand Link Details: falseExpand Tree: falseLink Tree Style: Links in Alphabetic Orderaxis:Alpha: 1Show Axes: falseShow Trail: falseValue: truebody:Alpha: 1Show Axes: falseShow Trail: falseValue: truebox:Alpha: 1Show Axes: falseShow Trail: falseValue: truehead:Alpha: 1Show Axes: falseShow Trail: falseValue: trueleg1:Alpha: 1Show Axes: falseShow Trail: falseValue: trueleg2:Alpha: 1Show Axes: falseShow Trail: falseValue: truerod:Alpha: 1Show Axes: falseShow Trail: falseValue: trueName: RobotModelTF Prefix: ""Update Interval: 0Value: trueVisual Enabled: trueEnabled: trueGlobal Options:Background Color: 48; 48; 48Fixed Frame: odomFrame Rate: 30Name: rootTools:- Class: rviz_default_plugins/InteractHide Inactive Objects: true- Class: rviz_default_plugins/MoveCamera- Class: rviz_default_plugins/Select- Class: rviz_default_plugins/FocusCamera- Class: rviz_default_plugins/MeasureLine color: 128; 128; 0- Class: rviz_default_plugins/SetInitialPoseTopic:Depth: 5Durability Policy: VolatileHistory Policy: Keep LastReliability Policy: ReliableValue: /initialpose- Class: rviz_default_plugins/SetGoalTopic:Depth: 5Durability Policy: VolatileHistory Policy: Keep LastReliability Policy: ReliableValue: /goal_pose- Class: rviz_default_plugins/PublishPointSingle click: trueTopic:Depth: 5Durability Policy: VolatileHistory Policy: Keep LastReliability Policy: ReliableValue: /clicked_pointTransformation:Current:Class: rviz_default_plugins/TFValue: trueViews:Current:Class: rviz_default_plugins/OrbitDistance: 10Enable Stereo Rendering:Stereo Eye Separation: 0.05999999865889549Stereo Focal Distance: 1Swap Stereo Eyes: falseValue: falseFocal Point:X: 0Y: 0Z: 0Focal Shape Fixed Size: trueFocal Shape Size: 0.05000000074505806Invert Z Axis: falseName: Current ViewNear Clip Distance: 0.009999999776482582Pitch: 0.459797203540802Target Frame: <Fixed Frame>Value: Orbit (rviz)Yaw: 4.618575572967529Saved: ~
Window Geometry:Displays:collapsed: falseHeight: 846Hide Left Dock: falseHide Right Dock: falseQMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000002cb000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000Selection:collapsed: falseTool Properties:collapsed: falseViews:collapsed: falseWidth: 1340X: 72Y: 60

RViz 配置文件说明

Panels: 定义了RViz中的不同面板，包括显示面板、选择面板、工具属性面板和视图面板。
Visualization Manager: 配置了RViz的显示管理器，包括网格、TF、机器人模型等显示元素。
Tools: 列出了RViz中可用的工具，如相机移动、选择、测量、设置初始姿态和设置目标等。
Transformation: 配置了当前的变换管理器（TF）。
Views: 定义了当前视图设置，如轨道视图。
Window Geometry: 设置了RViz窗口的几何属性，如高度、宽度和面板折叠状态。

详细说明

Panels

Displays Panel: 显示当前的所有可视化对象，如网格、TF、机器人模型等。
包括全局选项、状态、TF、机器人模型等树形结构展开设置。
Selection Panel: 用于选择和高亮显示RViz中的对象。
Tool Properties Panel: 显示当前选中工具的属性。
Views Panel: 显示和管理当前的视图设置。
Visualization Manager
Grid: 显示网格，帮助定位和参考。
TF: 显示TF树，用于查看各坐标系之间的关系。

RobotModel: 显示机器人模型，用于查看和调试机器人状态。
Tools

Interact: 用于与RViz中的对象交互。
MoveCamera: 移动相机以调整视角。

Select: 选择对象。

FocusCamera: 聚焦相机到选中对象。
Measure: 测量工具。

3 发布状态

现在我们需要一种方法来指定机器人处于什么状态。为此，我们必须指定所有三个关节和整体里程表。

在second_ros2_ws/src/urdf_tutorial_r2d2/urdf_tutorial_r2d2/ 目录下新增文件 state_publisher.py

如下图所示：
在这里插入图片描述

文件代码如下：

from math import sin, cos, pi
import rclpy
from rclpy.node import Node
from rclpy.qos import QoSProfile
from geometry_msgs.msg import Quaternion
from sensor_msgs.msg import JointState
from tf2_ros import TransformBroadcaster, TransformStampedclass StatePublisher(Node):def __init__(self):rclpy.init()super().__init__('state_publisher')qos_profile = QoSProfile(depth=10)self.joint_pub = self.create_publisher(JointState, 'joint_states', qos_profile)self.broadcaster = TransformBroadcaster(self, qos=qos_profile)self.nodeName = self.get_name()self.get_logger().info("{0} started".format(self.nodeName))degree = pi / 180.0loop_rate = self.create_rate(30)# robot statetilt = 0.tinc = degreeswivel = 0.angle = 0.height = 0.hinc = 0.005# message declarationsodom_trans = TransformStamped()odom_trans.header.frame_id = 'odom'odom_trans.child_frame_id = 'axis'joint_state = JointState()try:while rclpy.ok():rclpy.spin_once(self)# update joint_statenow = self.get_clock().now()joint_state.header.stamp = now.to_msg()joint_state.name = ['swivel', 'tilt', 'periscope']joint_state.position = [swivel, tilt, height]# update transform# (moving in a circle with radius=2)odom_trans.header.stamp = now.to_msg()odom_trans.transform.translation.x = cos(angle)*2odom_trans.transform.translation.y = sin(angle)*2odom_trans.transform.translation.z = 0.7odom_trans.transform.rotation = \euler_to_quaternion(0, 0, angle + pi/2) # roll,pitch,yaw# send the joint state and transformself.joint_pub.publish(joint_state)self.broadcaster.sendTransform(odom_trans)# Create new robot statetilt += tincif tilt < -0.5 or tilt > 0.0:tinc *= -1height += hincif height > 0.2 or height < 0.0:hinc *= -1swivel += degreeangle += degree/4# This will adjust as needed per iterationloop_rate.sleep()except KeyboardInterrupt:passdef euler_to_quaternion(roll, pitch, yaw):qx = sin(roll/2) * cos(pitch/2) * cos(yaw/2) - cos(roll/2) * sin(pitch/2) * sin(yaw/2)qy = cos(roll/2) * sin(pitch/2) * cos(yaw/2) + sin(roll/2) * cos(pitch/2) * sin(yaw/2)qz = cos(roll/2) * cos(pitch/2) * sin(yaw/2) - sin(roll/2) * sin(pitch/2) * cos(yaw/2)qw = cos(roll/2) * cos(pitch/2) * cos(yaw/2) + sin(roll/2) * sin(pitch/2) * sin(yaw/2)return Quaternion(x=qx, y=qy, z=qz, w=qw)def main():node = StatePublisher()if __name__ == '__main__':main()

代码说明：

导入必要的库:

from math import sin, cos, pi
import rclpy
from rclpy.node import Node
from rclpy.qos import QoSProfile
from geometry_msgs.msg import Quaternion
from sensor_msgs.msg import JointState
from tf2_ros import TransformBroadcaster, TransformStamped

定义StatePublisher类:

class StatePublisher(Node):def __init__(self):rclpy.init()super().__init__('state_publisher')qos_profile = QoSProfile(depth=10)self.joint_pub = self.create_publisher(JointState, 'joint_states', qos_profile)self.broadcaster = TransformBroadcaster(self, qos=qos_profile)self.nodeName = self.get_name()self.get_logger().info("{0} started".format(self.nodeName))

初始化参数和变量:

        degree = pi / 180.0loop_rate = self.create_rate(30)tilt = 0.tinc = degreeswivel = 0.angle = 0.height = 0.hinc = 0.005

声明消息类型:

        odom_trans = TransformStamped()odom_trans.header.frame_id = 'odom'odom_trans.child_frame_id = 'axis'joint_state = JointState()

主循环:

        try:while rclpy.ok():rclpy.spin_once(self)now = self.get_clock().now()joint_state.header.stamp = now.to_msg()joint_state.name = ['swivel', 'tilt', 'periscope']joint_state.position = [swivel, tilt, height]odom_trans.header.stamp = now.to_msg()odom_trans.transform.translation.x = cos(angle)*2odom_trans.transform.translation.y = sin(angle)*2odom_trans.transform.translation.z = 0.7odom_trans.transform.rotation = euler_to_quaternion(0, 0, angle + pi/2)self.joint_pub.publish(joint_state)self.broadcaster.sendTransform(odom_trans)tilt += tincif tilt < -0.5 or tilt > 0.0:tinc *= -1height += hincif height > 0.2 or height < 0.0:hinc *= -1swivel += degreeangle += degree/4loop_rate.sleep()except KeyboardInterrupt:pass

欧拉角转四元数函数:

def euler_to_quaternion(roll, pitch, yaw):qx = sin(roll/2) * cos(pitch/2) * cos(yaw/2) - cos(roll/2) * sin(pitch/2) * sin(yaw/2)qy = cos(roll/2) * sin(pitch/2) * cos(yaw/2) + sin(roll/2) * cos(pitch/2) * sin(yaw/2)qz = cos(roll/2) * cos(pitch/2) * sin(yaw/2) - sin(roll/2) * sin(pitch/2) * cos(yaw/2)qw = cos(roll/2) * cos(pitch/2) * cos(yaw/2) + sin(roll/2) * sin(pitch/2) * sin(yaw/2)return Quaternion(x=qx, y=qy, z=qz, w=qw)

主函数

def main():node = StatePublisher()if __name__ == '__main__':main()

4 创建启动文件

创建一个新second_ros2_ws/src/urdf_tutorial_r2d2/launch文件夹。

mkdir -p launch

在这里插入图片描述

打开编辑器并粘贴以下代码，将其保存为second_ros2_ws/src/urdf_tutorial_r2d2/launch/demo.launch.py

代码如下：

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Nodedef generate_launch_description():use_sim_time = LaunchConfiguration('use_sim_time', default='false')urdf_file_name = 'r2d2.urdf.xml'urdf = os.path.join(get_package_share_directory('urdf_tutorial_r2d2'),urdf_file_name)with open(urdf, 'r') as infp:robot_desc = infp.read()return LaunchDescription([DeclareLaunchArgument('use_sim_time',default_value='false',description='Use simulation (Gazebo) clock if true'),Node(package='robot_state_publisher',executable='robot_state_publisher',name='robot_state_publisher',output='screen',parameters=[{'use_sim_time': use_sim_time, 'robot_description': robot_desc}],arguments=[urdf]),Node(package='urdf_tutorial_r2d2',executable='state_publisher',name='state_publisher',output='screen'),])

5 编辑setup.py文件

您必须告诉colcon构建工具如何安装 Python 包。second_ros2_ws/src/urdf_tutorial_r2d2/setup.py按如下方式编辑文件：

包括这些导入语句

import os
from glob import glob
from setuptools import setup
from setuptools import find_packages

添加以下两行data_files

data_files=[...(os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),(os.path.join('share', package_name), glob('urdf/*')),
],

添加的代码位置如下：

在这里插入图片描述

保存setup.py更改后的文件

6 安装/编译软件包

cd second_ros2_ws
colcon build --symlink-install --packages-select urdf_tutorial_r2d2

获取安装文件：

source install/setup.bash

执行结果如下：

在这里插入图片描述

7 查看结果

启动包

ros2 launch urdf_tutorial_r2d2 demo.launch.py

运行后报错：

在这里插入图片描述
查看是因为launch.py 文件中urdf 文件名定义的后缀有问题

重新修改文件名再重新编译

在这里插入图片描述

重新再启动包

运行结果如下：

在这里插入图片描述
打开一个新终端，使用以下命令运行 Rviz
新增命令窗口：

rviz2 -d second_ros2_ws/install/urdf_tutorial_r2d2/share/urdf_tutorial_r2d2/r2d2.rviz

运行效果：

在这里插入图片描述