Breadcrumbs

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.

image2021-12-10_15-15-59.png

Figure 3.1 Robot on the Rviz simulator