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Note: This tutorial assumes that you have completed the ROS Tutorials. The code for this stack is available in the roch_robot..
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Using package of roch_description

Description: This tutorial provides a guide to configure roch robot model with roch_description.

Keywords: URDF, roch_description

Tutorial Level: BEGINNER

Next Tutorial: How to using package of roch_safety_controller with Roch.

Contents

  1. Model

Before begin our tutorial of roch_description that you should had learn and install ROS and also roch_robot, roch, roch_simulator and roch_viz.

And you also had checkout tutorials of roch, and learn tutorial how many environment values in roch.

For now, we should use about five environment values, ROCH_3D_SENSOR, ROCH_3D_SENSOR_ENABLE, ROCH_LASER, ROCH_LASER_ENABLE. And for Roch stacks and base values we set as default enough.

Model

Roch support more lidars and 3D sensors, so we should choose one of these models.

In your ~/.bashrc files add under lines:

export ROCH_3D_SENSOR=r200 #for indigo support [kinect, asus_xtion_pro, astra, r200]
export ROCH_3D_SENSOR_ENABLE=true #whether enable 3d sensor add into robot model or not.
export ROCH_LASER=rplidar #for indigo support [rplidar, ls01c]
export ROCH_LASER_ENABLE=true #whether enable 2d laser add into robot model or not.

Save and quit when you finished modify ~/.bashrc.

Test mode

Now, we checkout model whether is load and choose we want of not.

  roslaunch roch_viz view_model.launch

Modify

If you want modify your Roch's URDF description, see URDF tutorials.


2019-10-12 13:01