Camera Robot Package for ROS

This package contains a simple robot model with a camera. It consists of one prismatic joint and one revolute joint.

This package is based on the joshnewans/urdf_example package.

Installation

Clone this repository into your catkin workspace and build it:

cd ~/catkin_ws/src
git clone
cd ..
catkin_make

Usage

To launch the robot model in RViz, run the following command:

roslaunch camera_robot robot.launch

Use the sliders from joint_state_publisher to move the joints of the robot.

To launch the robot model in Gazebo, run the following command:

roslaunch camera_robot gazebo.launch

You can move the joints of the robot by publishing to the following topics:

rostopic pub -1 /camera_robot/slider_joint_position_controller/command std_msgs/Float64 "data: 1.2"

rostopic pub -1 /camera_robot/arm_joint_position_controller/command std_msgs/Float64 "data: 0.8"