Launch RVIZ

To launch the robot model in a RVIZ environment, place the URDF file in the urdf folder, the STL files in the meshes folder and make folder called launch. All of this should be placed in a robomow_description folder in the src folder in the catkin workspace directory. Here is an example of the file directory:

The launch file... here it is:

<launch>

  <arg name="model" />

    <param name="robot_description" textfile="$(find lawnmow_description)/urdf/lawnmow.urdf" />

    <param name="use_gui" value="true"/>

     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

     <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

     <node name="rviz" pkg="rviz" type="rviz" args="-d $(find lawnmow_description)/urdf.rviz" required="true" />

</launch>

Name this file view_demo.launch and place it in the launch folder.

4/14/17

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