Hi Andreas,<br>A simple example can be found here:<br><br>roslaunch pr2_examples_gazebo single_link.launch<br>roslaunch pr2_controller_manager controller_manager.launch<br><br>then you can see your link in rviz<br><br>rosrun rviz rviz<br>

<br>Set fixed and target frames to /world and try sending a command to the controller by<br><br>rostopic pub /test_controller/command std_msgs/Float64 0.1<br><br>you should see the link approach target joint position in gazebo and in rviz.<br>

John<br><br><div class="gmail_quote">On Thu, May 6, 2010 at 12:29 AM, Andreas Vogt <span dir="ltr">&lt;<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

<div bgcolor="#FFFFFF"><div></div><div><span style="font-size: 15px;"><br><span>Hi,</span><br><span>Can anyone give me a short example (with one or two joints) how to use URDF together with gazebo?</span><br><span>There are a lot of examples for the pr2 robot but no example how to start with a simple and small system from the scratch.</span><br>

<span>I have a robot description in xml. I did all the parse and checking stuff described in the tutorials. But now I want to read and write angles to these joints which are described in the XML file and want to see the movements in the simulation. How can I do that?</span><br>

<span></span><br><span>Thanxs for any help</span><br><span>Andreas</span><br><span></span><br><span>I spawn the XML model of the robot sucessfully into gazebo but when I start rviz all the tf&#39;s are missing.</span></span><br>

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