urdf_lib

installation

1. sudo apt install ros-humble-velodyne-description
2. sudo apt install ros-humble-velodyne-simulator

library for basic urdf shapes. Create urdf robots and sensors simple.

e.g.
launch robot model in rviz

ros2 launch urdf_basic_shapes display.launch.py urdf_package:=urdf_basic_shapes urdf_package_path:=examples/diff_drive_bot.urdf.xacro 

or to launch rviz together with gazebo simulator
ros2 launch urdf_basic_shapes gazebo.launch.py

Examples

ros2 launch urdf_basic_shapes display.launch.py
ros2 launch urdf_basic_shapes gazebo.launch.py

TODO: have to provide absolute path for model
inside your workspace run
ros2 launch urdf_basic_shapes gazebo.launch.py model:=src/urdf_basic_shapes/examples/deliverybot/deliverybot.urdf.xacro

TODO: have to provide absolute path for model
inside your workspace run
ros2 launch urdf_basic_shapes gazebo.launch.py model:=src/urdf_basic_shapes/examples/tko_robot.urdf.xacro

Working with urdf_launch pkg

ros2 launch urdf_launch display.launch.py urdf_package:=urdf_basic_shapes urdf_package_path:=examples/diff_drive_bot.urdf.xacro