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

Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany

Phone: +49 (0)421 178 45-6617
Fax:   +49 (0)421 178 45-4150
E-Mail: andreas.vogt@dfki.de

Weitere Informationen: http://www.dfki.de/robotik
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