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awesomebytes/test_urdf.md

Last active July 14, 2017 04:13
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Test new URDFs fast
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test_urdf.md

start ROS

roscore

Upload robot description urdf to param server

roslaunch marco_description upload_marco.launch

Also:

rosparam set /robot_description "`rosrun xacro xacro.py robot.urdf`"

joint state publisher so we can move the joints if necessary

rosrun joint_state_publisher joint_state_publisher _use_gui:=true

robot state publisher

rosrun robot_state_publisher robot_state_publisher

visualizer

rosrun rviz rviz

Relaunch the robot description and robot state publisher to see new URDF.

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