solidworks 导入urdf 到ubuntu 在rviz 和 gazebo 显示

参考：

https://www.guyuehome.com/28168

 

问题解决：

https://answers.ros.org/question/239168/cannot-display-the-urdf-model-in-rviz-launch-file/

 

安装确实包：

sudo apt install ros-melodic-joint-state-publisher-gui

 

修改display.launch 文件

 

 

catkin_make 包时报错缺失 src文件添加即可

 

缺失模型描述文件，手动添加即可

 

 

gazeb 启动需要修改 lanuch 文件

<launch>

  <include

    file="/opt/ros/melodic/share/gazebo_ros/launch/empty_world.launch" />

    

  <node

    name="tf_footprint_base"

    pkg="tf"

    type="static_transform_publisher"

    args="0 0 0 0 0 0 base_link base_footprint 40" />



  <node name="spawn_model" pkg="gazebo_ros" type="spawn_model"

    args="-file /home/cxl/Desktop/catkin_ws/src/test.SLDASM/robots/test.SLDASM.URDF -urdf -z 0.5 -model test.SLDASM" />



</launch>