Hi Andreas-

You can put the urdf on the parameter server by putting the path to your
urdf file in the launch script below. (the launch files in pr2_description
and/or pr2_bringup are helpful here).
<launch>

    <!-- send pr2 urdf to param server -->
    <param name="robot_description" command="$(find xacro)/xacro.py
'$(find pr2_description)/robots/pr2.urdf.xacro'" />
</launch>

Then you need a joint state publisher to broadcast joint values so
that rviz will be able to display the model correctly.
http://www.ros.org/wiki/joint_state_publisher

That should be all you need to just see the model.


--Adam



Adam Leeper
Stanford University
aleeper@stanford.edu
719.358.3804


2010/10/21 Andreas Vogt <andreas.vogt@dfki.de>

> Hi,
>
> is it possible to spawn my robot urdf model without starting gazebo? I
> just want see the model in rviz.
>
> Thanks
>
> --
> Andreas Vogt
> Logistics and Production Robotics
>
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