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