Visualizing URDF models of existing robots
To visualize some of the existing robot URDF models, you can download the ROS 2 description packages that are publicly available, such as on GitHub, or install binaries of robot models from the apt
package manager.
Here are some of the models you can install and visualize in RViz:
- Universal Robot [20]
- TurtleBot 4 [21]
- Leo Rover [22]
Here is a command to install those description packages using the apt
package manager:
sudo apt install -y ros-jazzy-ur-description ros-jazzy-turtlebot4-description ros-jazzy-leo-description
After installing the packages, let’s see how to visualize a UR robot in the following section.
Visualizing the Universal Robot model
We can change the type of robot and visualize multiple types of robots. Here are the options available (ur3
, ur3e
, ur5
, ur5e
, ur10
, ur10e
, ur16e
, ur20
, and ur30
). We will use ur30
as an example:
ros2 launch ur_description view_ur...