{"id":5117,"date":"2022-06-26T22:02:59","date_gmt":"2022-06-26T13:02:59","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=5117"},"modified":"2022-06-29T00:01:32","modified_gmt":"2022-06-28T15:01:32","slug":"urdf-%ec%9e%91%ec%84%b1%ed%95%98%ec%97%ac-rviz%eb%a1%9c-%ed%91%9c%ec%8b%9c%ed%95%98%ea%b8%b0","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/urdf-%ec%9e%91%ec%84%b1%ed%95%98%ec%97%ac-rviz%eb%a1%9c-%ed%91%9c%ec%8b%9c%ed%95%98%ea%b8%b0\/","title":{"rendered":"urdf \uc791\uc131\ud558\uc5ec rviz\ub85c \ud45c\uc2dc\ud558\uae30"},"content":{"rendered":"\n

tutorial site\ub97c \ucc38\uc870\ud558\uc5ec \uc2e4\uc2b5\uc744 \ud588\ub2e4. \ub85c\ubd07 \uc0b4 \ub3c8\uc774 \uc5c6\uc5b4 \ubab8\uc73c\ub85c \ub54c\uc6b0\ub294 \uc218 \ubc16\uc5d0. \uc694\uc998 \uc6d0\uc790\uc7ac\uc640 \uacf5\uae09\ub9dd \uc774\uc288\ub85c \uac12\ub3c4 \uc624\ub974\uace0 \uad6c\ud558\uae30\ub3c4 \ud798\ub4e4\ub2e4. \ub9c9\uc0c1 \uc0ac \ubcf4\uba74 \uadf8\ub807\uac8c \uc790\uc8fc \uc4f0\uc774\uc9c0\ub3c4 \uc54a\uc544 \ubcf4\uc778\ub2e4.<\/p>\n\n\n\n

https:\/\/www.notion.so\/2-2-1-URDF-930e055d01ee49cd859ac02ea8770325<\/a><\/p>\n\n\n\n

http:\/\/wiki.ros.org\/urdf\/Tutorials\/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch<\/a><\/p>\n\n\n\n

3\ucc28\uc6d0 \uadf8\ub798\ud53d\uc744 \uc9c1\uc811 \uc218\uc815\ud558\uc5ec \uac01 \uc88c\ud45c\ub97c \ucc3e\uc73c\uba74 \uc26c\uc6b4\ub370, URDF \ud615\uc2dd\uc774 \uc9c0\uc6d0\ud558\uc9c0 \uc54a\ub294\ub2e4. \uac01 \ubd80\ud488\uc774 \uc5b4\ub514\uc5d0 \ubd99\ub294\uc9c0 \uacc4\uc0b0\ud558\uc5ec \uc9c1\uc811 \uc785\ub825\ud574\uc57c \ud55c\ub2e4.<\/p>\n\n\n\n

urdf\ub97c \uc218\uc815 \ud55c \ud6c4 rviz\ub85c \ubcf4\uba74 No transform from A to B \uba54\uc138\uc9c0\uac00 \ub098\uc624\uba74\uc11c link\uac00 \ud45c\uc2dc\ub418\uc9c0 \uc54a\ub294\ub2e4. \ub2e4\uc74c \uc21c\uc11c\ub300\ub85c \uc2e4\ud589\ud558\uba74 \ub41c\ub2e4.<\/p>\n\n\n\n

  1. tutorial \ucc38\uc870\ud558\uc5ec launch \ud30c\uc77c \uc791\uc131. robot_state_publisher\uc640 joint_state_publisher\ub97c launch\uc5d0 \ub123\uc5b4\uc57c \ud55c\ub2e4.<\/li>
  2. roslaunch\ub85c launch \uc2e4\ud589<\/li>
  3. rviz \uc2e4\ud589<\/li><\/ol>\n\n\n\n
    <launch>\n    <param name=\"robot_description\" command=\"$(find xacro)\/xacro $(find robot)\/urdf\/robot.urdf\" \/>\n<node pkg=\"robot_state_publisher\" type=\"robot_state_publisher\" name=\"robot_state_publisher\"\/>\n<node pkg=\"joint_state_publisher_gui\" type=\"joint_state_publisher_gui\" name=\"joint_state_publisher_gui\"\/>\n\n<\/launch>\n<\/pre>\n\n\n\n
    rviz\ub97c \ud55c\ubc84\ub9cc \uc2e4\ud589\ud558\uace0 launch \ud558\uba74 no transform \uba54\uc138\uc9c0\ub97c \ubcf8\ub2e4. urdf \ud30c\uc77c \ub9cc\ub4e4 \ub54c \uac01 \uc218\uce58\ub97c \uc815\ud655\ud558\uac8c \uc54c \uc218 \uc5c6\uc5b4 \uadc0\ucc2e\uc544\uc11c rviz\ub97c \ud55c \ubc88 \ucf1c\ub193\uace0 \ub044\uc9c8 \uc54a\ub294\ub370, \uc774 \ub54c\ubb38\uc5d0 \uc548 \ubcf4\uc778\ub2e4. gui\ud234\ub85c \ud45c\uc2dc\ub41c \uc2ac\ub77c\uc774\ub354\ub97c \ub3cc\ub9ac\uba74 \uc88c\ud45c\uac00 \ud68c\uc804\ub428\uc744 \ud655\uc778 \ud560 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n
    \ub2a5\ub825\uc790\ub294 \uc798 \ub9cc\ub4e4\uaca0\uc9c0\ub9cc, \ub0b4 \uc218\uc900\uc5d0\uc11c\ub294 \ubc14\ud034 \ub450 \uac1c\ub3c4 \uaca8\uc6b0 \ub530\ub77c \ud588\ub2e4. material\uc740 rgb \ucf54\ub4dc\ub97c 255\ub85c \ub098\ub220\uc918\uc57c \ud55c\ub2e4.<\/p>\n\n\n\n
    <?xml version=\"1.0\" ?>\n<robot name=\"mobile_robot\" xmlns:xacro=\"http:\/\/www.ros.org\/wiki\/xacro\">\n\t<material name=\"blue\">\n\t\t<color rgba = \"0 0 0.8 1\"\/>\n\t<\/material>\n\n\t<material name=\"gray\">\n\t\t<color rgba = \"1 1 1 1\"\/>\n\t<\/material>\n\n\t<material name=\"blueviolet\">\n\t\t<color rgba = \"0.54 0.16 0.88 1\"\/>\n\t<\/material>\n\t<link name = \"base_footprint\"\/>\n\t<link name=\"base_link\">\n\t\t<visual>\n\t\t\t<origin xyz=\"0 0 0\" rpy = \"0 0 0\"\/>\n\t\t\t<geometry>\n\t\t\t\t<box size = \"0.3 0.24 0.1\" rpy = \"0 0 0\" \/>\n\t\t\t<\/geometry>\n\t\t\t<material name = \"gray\"\/>\n\n\t\t<\/visual>\n\t\t<collision>\n\t\t\t<origin xyz=\"0 0 0.03\" rpy = \"0 0 0\"\/>\n\t\t\t<geometry>\n\t\t\t\t<box size = \"0.3 0.25 0.1\" \/>\n\t\t\t<\/geometry>\n\n\t\t<\/collision>\n\t<\/link>\n\t<joint name = \"base_footprint_fixed\" type = \"fixed\">\n\t\t<origin xyz = \"0 0 0.03\" rpy = \"0 0 0\"\/>\n\t\t<parent link = \"base_footprint\"\/>\n\t\t<child link = \"base_link\"\/>\n\t<\/joint>\n\n\n\t<link name = \"left_wheel\">\n\t\t<visual>\n\t\t\t<origin xyz = \"0 0 0\" rpy = \"1.570796 0 0\" \/>\n\t\t\t<geometry>\n\t\t\t\t<cylinder length = \"0.05\" radius = \"0.08\" \/>\n\t\t\t<\/geometry>\n\t\t\t<material name =\"blue\"\/>\n\n\t\t<\/visual>\n\t\t<collision>\n\t\t\t<origin xyz = \"0 0 0\" rpy = \"1.570796 0 0\" \/>\n\t\t\t<geometry>\n\t\t\t\t<cylinder length = \"0.05\" radius = \"0.08\" \/>\n\t\t\t<\/geometry>\n\n\t\t<\/collision>\n\n\t<\/link>\n\n\t<link name = \"right_wheel\">\n\t\t<visual>\n\t\t\t<origin xyz = \"0 0 0\" rpy = \"1.570796 0 0\" \/>\n\t\t\t<geometry>\n\t\t\t\t<cylinder length = \"0.05\" radius = \"0.08\" \/>\n\t\t\t<\/geometry>\n\t\t\t<material name =\"blue\"\/>\n\n\t\t<\/visual>\n\t\t<collision>\n\t\t\t<origin xyz = \"0 0 0\" rpy = \"1.570796 0 0\" \/>\n\t\t\t<geometry>\n\t\t\t\t<cylinder length = \"0.05\" radius = \"0.08\" \/>\n\t\t\t<\/geometry>\n\n\t\t<\/collision>\n\n\t<\/link>\n\n\n\t<joint name = \"left_wheel_joint\" type = \"continuous\">\n\t\t<origin xyz = \"0.1 0.15 0\" rpy = \"0 0 0\"\/>\n\t\t<parent link = \"base_link\"\/>\n\t\t<child link = \"left_wheel\"\/>\n\t\t<axis xyz = \"0 1 0\"\/>\n\n\t<\/joint>\n\n\t<joint name = \"right_wheel_joint\" type = \"continuous\">\n\t\t<origin xyz = \"0.1 -0.15 0\" rpy = \"0 0 0\"\/>\n\t\t<parent link = \"base_link\"\/>\n\t\t<child link = \"right_wheel\"\/>\n\t\t<axis xyz = \"0 1 0\" \/>\n\n\t<\/joint>\n\n\t<link name=\"scanner_link\">\n\t\t<visual>\n\t\t\t<origin xyz=\"0 0 0\" rpy = \"0 0 0\"\/>\n\t\t\t<geometry>\n\t\t\t\t<cylinder length=\"0.05\" radius=\"0.035\"\/>\n\t\t\t<\/geometry>\n\t\t\t<material name = \"blueviolet\"\/>\n\n\t\t<\/visual>\n\t\t<collision>\n\t\t\t<origin xyz=\"0 0 0\" rpy = \"0 0 0\"\/>\n\t\t\t<geometry>\n\t\t\t\t<cylinder length=\"0.05\" radius=\"0.035\"\/>\n\t\t\t<\/geometry>\n\n\t\t<\/collision>\n\t<\/link>\n\n\t<joint name = \"head_scanner\" type = \"fixed\">\n\t\t<origin xyz = \"0.15 0 0\" rpy = \"0 1.5708 0\"\/>\n\t\t<parent link = \"base_link\"\/>\n\t\t<child link = \"scanner_link\"\/>\n\t<\/joint>\n<\/robot><\/pre>\n","protected":false},"excerpt":{"rendered":"
    tutorial site\ub97c \ucc38\uc870\ud558\uc5ec \uc2e4\uc2b5\uc744 \ud588\ub2e4. \ub85c\ubd07 \uc0b4 \ub3c8\uc774 \uc5c6\uc5b4 \ubab8\uc73c\ub85c \ub54c\uc6b0\ub294 \uc218 \ubc16\uc5d0. \uc694\uc998 \uc6d0\uc790\uc7ac\uc640 \uacf5\uae09\ub9dd \uc774\uc288\ub85c \uac12\ub3c4 \uc624\ub974\uace0 \uad6c\ud558\uae30\ub3c4 […]<\/p>\n","protected":false},"author":1,"featured_media":5118,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center 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