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RobotModel

The Robot Model display shows links of a robot (defined by a urdf), in their correct poses according to the tf transform tree.

Properties

Name

Description

Valid Values

Default

Visual Enabled

Enables drawing the visual representation of the robot

True, False

True

Collision Enabled

Enables drawing the collision representation of the robot

True, False

False

Update Rate

The rate at which to update the pose of each link, in seconds. Setting this to a small value will have performance implications

0.01+

0.1

Alpha

The amount of transparency to apply to the links

[0-1]

1

Robot Description

The parameter to retrieve the urdf from. Uses searchParam() to search up the parameter tree for the value specified.

Any valid Graph Resource Name

robot_description

TF Prefix

New in cturtle. Sets the TF prefix to prepend to the link names loaded from the urdf

Any valid tf prefix

empty

Per-link Properties

Show Trail

Draws a trail behind the link. The trail originates from the origin of the link.

True, False

False

Show Axes

Draws axes at the origin of the link.

True, False

False

URDF

The Robot Description parameter must be embedded xml, not the path to the file on disc. You can load the XML with a launch file:

<launch>
    <param name="robot_description" textfile="$(find packagename)/model.xml" />
</launch>

The Robot Model display requires the URDF to have a visual or collision tag defined in order to view your robot. See the <visual> and <collision> sections on the Link XML Format


2019-10-12 13:07