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Update my_robot_rviz.launch #14

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Update my_robot_rviz.launch #14

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f9d6291
Update my_robot_rviz.launch
Ktysai Jun 28, 2021
f59e221
Update my_robot_description/launch/my_robot_rviz.launch
Ktysai Jul 1, 2021
38be722
Update my_robot_rviz.launch
Ktysai Jul 2, 2021
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23 changes: 20 additions & 3 deletions my_robot_description/launch/my_robot_rviz.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,9 @@

<arg name="rvizconfig"
default="$(find my_robot_description)/rviz/my_robot.rviz" />

<!-- Ktysai necessary to solve NO GUI for joint_state_publisher when using RVIZ -->
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@eborghi10 eborghi10 Jun 29, 2021

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No need to add your username in the comments you made. Please remove them.

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@Ktysai Ktysai Jul 2, 2021

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done!

<arg name="use_gui" default="true" doc="Should the joint_state_publisher use a GUI for controlling joint states" />

<!-- ###################################################################### -->

Expand All @@ -24,17 +27,31 @@

<!--
Reads the robot model description, finds all joints, and publishes joint values to all nonfixed joints using GUI sliders.
-->
-->
<node name="joint_state_publisher"
pkg="joint_state_publisher"
type="joint_state_publisher" />
type="joint_state_publisher"
output="screen"
unless="$(arg use_gui)" /> <!-- Ktysai last two lines necessary to solve NO GUI for joint_state_publisher when using RVIZ -->
<!-- Ktysai node necessary to solve NO GUI for joint_state_publisher when using RVIZ -->
<node name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
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@eborghi10 eborghi10 Jun 29, 2021

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Please add in the package.xml file joint_state_publisher_gui as run_depend.

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@Ktysai Ktysai Jul 2, 2021

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Is I do like that is no need to mention use_gui here?

type="joint_state_publisher_gui"
output="screen"
if="$(arg use_gui)" />


<!--
Reads the current robot joint states and publishes the 3D poses of each robot link using the kinematics tree build from the URDF. The 3D pose of the robot is published as ROS tf (transform).
-->
<node name="robot_state_publisher"
pkg="robot_state_publisher"
type="state_publisher" />
type="robot_state_publisher" />
<!-- KTYSAI
put type="robot_state_publisher", in order to make the robot aprear corectly in RVIz and deal with this type of error message:
"ERROR: cannot launch node of type [robot_state_publisher/state_publisher]: Cannot locate node of type [state_publisher] in package [robot_state_publisher].
Make sure file exists in package path and permission is set to executable (chmod +x)"
-->
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@eborghi10 eborghi10 Jun 29, 2021

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No need this comment here, state_publisher is an old name that was changed a long time ago.

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@Ktysai Ktysai Jul 2, 2021

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in the launch file it was like that, unfortunately.


<!-- Show in Rviz -->
<node name="rviz"
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