georg_description

AutonOhm Georg's URDF description package

Notes

3D files must be on the same computer that is running RVIZ,
as a sourced package.
In order to make development easier this repo is separated from georg's other software.

joint_state_publisher is used to zero out all joints upon initialisation.

Install & Run

Install Dependencies:

sudo apt install ros-jazzy-xacro ros-jazzy-robot-state-publisher ros-jazzy-joint-state-publisher

Colcon build this package (in a workspace ofc)
Don't forget to source ;)

Run

ros2 launch georg_description publish_urdf.launch.py

View robot model

To view the model, this package must be sourced. Otherwise the 3d model files won't load.
So source the workspace, then do:

rviz2 -d /path/to/package/view_urdf.rviz 

Use the path to georg_description.
This will display the model - since some 3d files are quite large it may need a sec to load.

Mess with the model

With joint_state_publisher_gui you can fiddle with all available joints.
It too subscribes to the /robot_description topic

ros2 run joint_state_publisher_gui joint_state_publisher_gui 

TODO

• Nicer meshes - especially a condensed one for the PIB
• Actually split up the PIB and make it moveable