{"id":239,"date":"2016-03-15T19:17:25","date_gmt":"2016-03-15T18:17:25","guid":{"rendered":"http:\/\/babel.isa.uma.es\/crumb\/?p=239"},"modified":"2016-04-06T16:58:57","modified_gmt":"2016-04-06T15:58:57","slug":"crumb-in-rviz","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/2016\/03\/15\/crumb-in-rviz\/","title":{"rendered":"CRUMB in RViz"},"content":{"rendered":"

We have completed the robot model in ROS. To incorporate the Widow-X arm on the Turtlebot platform, we have to include these lines in the xacro file:<\/p>\n

<joint name=\"fixed\" type=\"fixed\">
\n<parent link=\"plate_top_link\"\/>
\n<child link=\"${prefix}arm_base_link\"\/>
\n<\/joint><\/code><\/p>\n

And we have to add the Turtlebot library and the Turtlebot:<\/p>\n

<xacro:include filename=\"$(find turtlebot_description)\/urdf\/turtlebot_library.urdf.xacro\"\/><\/code>
\n
\n<kobuki\/>
\n<stack_hexagons parent=\"base_link\"\/>
\n<sensor_kinect\u00a0 parent=\"base_link\"\/><\/code><\/p>\n

\"rviz3\"<\/a><\/p>\n

The figure shows CRUMB in Rviz and, similarly to Widow-X, we can use joint_state_publisher node to test the model.<\/p>\n

The packages to simulate Widow-x and CRUMB will be uploaded soon \ud83d\ude42<\/p>\n","protected":false},"excerpt":{"rendered":"

We have completed the robot model in ROS. To incorporate the Widow-X arm on the Turtlebot platform, we have to include these lines in the xacro file: <joint name=”fixed” type=”fixed”> <parent link=”plate_top_link”\/> <child link=”${prefix}arm_base_link”\/> <\/joint> And we have to add the Turtlebot library and the Turtlebot: <xacro:include filename=”$(find turtlebot_description)\/urdf\/turtlebot_library.urdf.xacro”\/> <kobuki\/> <stack_hexagons parent=”base_link”\/> <sensor_kinect\u00a0 parent=”base_link”\/> The […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[6],"tags":[17,16],"class_list":["post-239","post","type-post","status-publish","format-standard","hentry","category-ros-simulator","tag-crumb","tag-rviz"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/posts\/239"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/comments?post=239"}],"version-history":[{"count":3,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/posts\/239\/revisions"}],"predecessor-version":[{"id":253,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/posts\/239\/revisions\/253"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/media?parent=239"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/categories?post=239"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/tags?post=239"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}