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dinova_description

dingo-o kinova dinova
1 1 1

Important

Be aware that there is a difference between real_dingo_urdf and model_dingo_urdf.

The urdf file for real robot is expressed by four wheels.

The model for Gazebo/Control is expressed by the omnibase world coordinates [x,y, theta]

To distinguish between these urdf files, use the dingo_real_urdf argument. Its default value is True.

Visualizing a robot model in RViz and joint_state_gui_publisher:

The visualization launch files are ONLY for testing purposes. Do not use them with real robots or gazebo !!!

To launch the visualization with dinova:

   roslaunch dinova_description visualize_dinova.launch dingo_real_urdf:=false

To launch the visualization with dingo only:

   roslaunch dinova_description visualize_dingo_omni.launch dingo_real_urdf:=false

To launch the visualization with kinova only:

   roslaunch dinova_description visualize_kinova.launch dingo_real_urdf:=false

To launch the visualization with the lidar and dingo:

   roslaunch dinova_description visualize_dingo_omni.launch lidar:=true dingo_real_urdf:=false