note: Package for ROS 2 - Python (CMake) based package
The fred2_description package in ROS 2 is dedicated to creating and launching the robot description for simulation and real-world applications. It utilizes URDF files, Xacro, and launch files to represent the robot's structure and visualize it in tools like RViz.
1. Clone the repository into your ROS2 workspace:
cd ros2_ws/src
git clone https://github.com/AMR-Frederico/fred2_description.git2. Build the package:
cd ros2_ws
colcon buildBasic URDF with Robot State Publisher:
ros2 launch fred2_description robot_state_publisher_basic.launch.py
URDF with Robot State Publisher and RViz:
ros2 launch fred2_description robot_state_publisher_rviz.launch.py
Complete URDF with STL Pieces for Simulation:
ros2 launch fred2_description robot_state_publisher_simulation.launch.py
The robot_state_publisher node is responsible for publishing the robot's joint state and transforms. It reads the URDF file and broadcasts the joint states to the TF tree.
Type: python
Name: robot_state_publisher
robot_description: Absolute path to the robot's URDF file.
Subscribers: None
Publishers:
/joint_states (sensor_msgs/JointState): Joint states of the robot.
The joint_state_publisher node allows you to interactively change the joint values of the robot for testing and visualization.
Type: python
Name: joint_state_publisher
model: Absolute path to the robot's URDF file.
Subscribers: None
Publishers:
/joint_states (sensor_msgs/JointState): Joint states of the robot.
Condition: Launches only if the gui argument is not provided.
The joint_state_publisher_gui node provides a graphical interface to interactively change the joint values of the robot for testing and visualization.
Type: python
Name: joint_state_publisher_gui
Condition: Launches only if the gui argument is provided.
Subscribers: None
Publishers: None
The rviz2 node launches the RViz visualization tool to display the robot model and sensor information.
Type: ros2/rviz2
Name: rviz2
-d: Absolute path to the RViz configuration file.
Subscribers: None
Publishers: None
Default Launch:
ros2 launch fred2_description robot_state_publisher_rviz.launch.py
Launch for the robot:
ros2 launch fred2_description robot_state_publisher.launch.py
Launch with GUI:
ros2 launch fred2_description robot_state_publisher_rviz.launch.py gui:=True
The package includes different URDF files representing the robot in various configurations. These models are suitable for different use cases:
fred_basic_shape.urdf: Basic URDF with simple forms for basic visualization.
fred_simplificated.urdf: URDF with STL pieces, without colision properties.
fred_description.urdf: URDF with STL pieces for simulation.