| Note: This tutorial assumes that you have completed the ROS Tutorials. The code for this stack is available in the roch_robot.. |
 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
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
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.
