URDF using xacro

ros2 pkg create --build-type ament_cmake my_pkg_cpp_urdf

my_robot_05.urdf

<?xml version="1.0"?> <robot name="my_robot" xmlns:xacro="http://ros.org/wiki/xacro">   <!-- Define robot constants -->   <xacro:property name="base_width" value="0.31"/>   <xacro:property name="base_length" value="0.42"/>   <xacro:property name="base_height" value="0.18"/>   <xacro:property name="wheel_radius" value="0.10"/>   <xacro:property name="wheel_width" value="0.04"/>   <xacro:property name="wheel_ygap" value="0.025"/>   <xacro:property name="wheel_zoff" value="0.05"/>   <xacro:property name="wheel_xoff" value="0.12"/>   <xacro:property name="caster_xoff" value="0.14"/>   <!-- Robot Base -->   <link name="base_link">     <visual>       <geometry>         <box size="${base_length} ${base_width} ${base_height}"/>       </geometry>       <material name="Cyan">         <color rgba="0 1.0 1.0 1.0"/>       </material>     </visual>   </link>   <!-- Robot Footprint -->   <link name="base_footprint"/>   <joint name="base_joint" type="fixed">     <parent link="base_link"/>     <child link="base_footprint"/>     <origin xyz="0.0 0.0 ${-(wheel_radius+wheel_zoff)}" rpy="0 0 0"/>   </joint>   <!-- Wheels -->   <xacro:macro name="wheel" params="prefix x_reflect y_reflect">     <link name="${prefix}_link">       <visual>         <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>         <geometry>             <cylinder radius="${wheel_radius}" length="${wheel_width}"/>         </geometry>         <material name="Gray">           <color rgba="0.5 0.5 0.5 1.0"/>         </material>       </visual>     </link>     <joint name="${prefix}_joint" type="continuous">       <parent link="base_link"/>       <child link="${prefix}_link"/>       <origin xyz="${x_reflect*wheel_xoff} ${y_reflect*(base_width/2+wheel_ygap)} ${-wheel_zoff}" rpy="0 0 0"/>       <axis xyz="0 1 0"/>     </joint>   </xacro:macro>   <xacro:wheel prefix="drivewhl_l" x_reflect="-1" y_reflect="1" />   <xacro:wheel prefix="drivewhl_r" x_reflect="-1" y_reflect="-1" />   <!-- Caster Wheel -->   <link name="front_caster">     <visual>       <geometry>         <sphere radius="${(wheel_radius+wheel_zoff-(base_height/2))}"/>       </geometry>       <material name="Cyan">         <color rgba="0 1.0 1.0 1.0"/>       </material>     </visual>   </link>   <joint name="caster_joint" type="fixed">     <parent link="base_link"/>     <child link="front_caster"/>     <origin xyz="${caster_xoff} 0.0 ${-(base_height/2)}" rpy="0 0 0"/>   </joint> </robot>

my_display.launch.py

import launch from launch.substitutions import Command, LaunchConfiguration import launch_ros import os def generate_launch_description():     pkg_share = launch_ros.substitutions.FindPackageShare(package='my_pkg_cpp_urdf').find('my_pkg_cpp_urdf')     default_model_path = os.path.join(pkg_share, 'urdf/my_robot_05.urdf')     default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf_config.rviz')     robot_state_publisher_node = launch_ros.actions.Node(         package='robot_state_publisher',         executable='robot_state_publisher',         parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]     )     joint_state_publisher_node = launch_ros.actions.Node(         package='joint_state_publisher',         executable='joint_state_publisher',         name='joint_state_publisher',         condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui'))     )     joint_state_publisher_gui_node = launch_ros.actions.Node(         package='joint_state_publisher_gui',         executable='joint_state_publisher_gui',         name='joint_state_publisher_gui',         condition=launch.conditions.IfCondition(LaunchConfiguration('gui'))     )     rviz_node = launch_ros.actions.Node(         package='rviz2',         executable='rviz2',         name='rviz2',         output='screen',         arguments=['-d', LaunchConfiguration('rvizconfig')],     )     return launch.LaunchDescription([         launch.actions.DeclareLaunchArgument(name='gui', default_value='True',                                             description='Flag to enable joint_state_publisher_gui'),         launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path,                                             description='Absolute path to robot urdf file'),         launch.actions.DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,                                             description='Absolute path to rviz config file'),         joint_state_publisher_node,         joint_state_publisher_gui_node,         robot_state_publisher_node,         rviz_node     ])

urdf_config.rviz

Panels:   - Class: rviz_common/Displays     Help Height: 78     Name: Displays     Property Tree Widget:       Expanded:         - /Global Options1         - /Status1         - /RobotModel1/Links1         - /TF1       Splitter Ratio: 0.5     Tree Height: 557 Visualization Manager:   Class: ""   Displays:     - Alpha: 0.5       Cell Size: 1       Class: rviz_default_plugins/Grid       Color: 160; 160; 164       Enabled: true       Name: Grid     - Alpha: 0.6       Class: rviz_default_plugins/RobotModel       Description Topic:         Depth: 5         Durability Policy: Volatile         History Policy: Keep Last         Reliability Policy: Reliable         Value: /robot_description       Enabled: true       Name: RobotModel       Visual Enabled: true     - Class: rviz_default_plugins/TF       Enabled: true       Name: TF       Marker Scale: 0.3       Show Arrows: true       Show Axes: true       Show Names: true   Enabled: true   Global Options:     Background Color: 48; 48; 48     Fixed Frame: base_link     Frame Rate: 30   Name: root   Tools:     - Class: rviz_default_plugins/Interact       Hide Inactive Objects: true     - Class: rviz_default_plugins/MoveCamera     - Class: rviz_default_plugins/Select     - Class: rviz_default_plugins/FocusCamera     - Class: rviz_default_plugins/Measure       Line color: 128; 128; 0   Transformation:     Current:       Class: rviz_default_plugins/TF   Value: true   Views:     Current:       Class: rviz_default_plugins/Orbit       Name: Current View       Target Frame: <Fixed Frame>       Value: Orbit (rviz)     Saved: ~

CMakeLists.txt

cmake_minimum_required(VERSION 3.5) project(my_pkg_cpp_urdf) # Default to C99 if(NOT CMAKE_C_STANDARD)   set(CMAKE_C_STANDARD 99) endif() # Default to C++14 if(NOT CMAKE_CXX_STANDARD)   set(CMAKE_CXX_STANDARD 14) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")   add_compile_options(-Wall -Wextra -Wpedantic) endif() # find dependencies find_package(ament_cmake REQUIRED) # uncomment the following section in order to fill in # further dependencies manually. # find_package(<dependency> REQUIRED) install(   DIRECTORY urdf launch rviz   DESTINATION share/${PROJECT_NAME} ) if(BUILD_TESTING)   find_package(ament_lint_auto REQUIRED)   # the following line skips the linter which checks for copyrights   # uncomment the line when a copyright and license is not present in all source files   #set(ament_cmake_copyright_FOUND TRUE)   # the following line skips cpplint (only works in a git repo)   # uncomment the line when this package is not in a git repo   #set(ament_cmake_cpplint_FOUND TRUE)   ament_lint_auto_find_test_dependencies() endif() ament_package()

pakage.xml

<?xml version="1.0"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3">   <name>my_pkg_cpp_urdf</name>   <version>0.0.0</version>   <description>TODO: Package description</description>   <maintainer email="ubuntu@todo.todo">ubuntu</maintainer>   <license>TODO: License declaration</license>   <buildtool_depend>ament_cmake</buildtool_depend>   <exec_depend>joint_state_publisher</exec_depend>   <exec_depend>joint_state_publisher_gui</exec_depend>   <exec_depend>robot_state_publisher</exec_depend>   <exec_depend>rviz</exec_depend>   <exec_depend>xacro</exec_depend>   <test_depend>ament_lint_auto</test_depend>   <test_depend>ament_lint_common</test_depend>   <export>     <build_type>ament_cmake</build_type>   </export> </package>

 

 

 

 

Reference

[1] https://navigation.ros.org/setup_guides/urdf/setup_urdf.html

Setting Up The URDF — Navigation 2 1.0.0 documentation

[2] https://github.com/ros/urdf_tutorial.git

GitHub - ros/urdf_tutorial

[3] https://github.com/ros-planning/navigation2_tutorials

GitHub - ros-planning/navigation2_tutorials: Tutorial code referenced in https://navigation.ros.org/

[4] http://wiki.ros.org/urdf

urdf - ROS Wiki

[5] http://wiki.ros.org/robot_state_publisher

robot_state_publisher - ROS Wiki