dsr_description <robot_model>.launch
Feature
- Launch the robot model on Rviz simulator and load Joint_state_publisher.
- The robot can be moved by using Joint_state_publisher.
Parameter
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
model | - | m1013 | M-Series Robot model . m0609, m0617, m1013, m1509 A-Series Robot model . a0509 |
color | - | white | Robot Color . white or blue |
gripper | - | none | using gripper or not . none : not use gripper . robotiq_2f : use robotiq 2finger gripper |
Example
BASH
$ roslaunch dsr_description m0609.launch
$ roslaunch dsr_description m1013.launch color:=blue # Change Color
$ roslaunch dsr_description m1509.launch gripper:=robotiq_2f # insert robotiq gripper
$ roslaunch dsr_description m0617.launch color:=blue gripper:=robotiq_2f
$ roslaunch dsr_description a0509.launch # A-Series
Robot and Joint_state_publisher are loaded on Rviz simulator (Figure 3.1). The robot can be moved by using Joint_state_publisher.
Figure 3.1 Robot on the Rviz simulator