[ros-users] [Discourse.ros.org] [Quality Assurance] ROS tests with robot description
Denis Štogl
ros.discourse at gmail.com
Sat Aug 11 08:52:47 UTC 2018
I am not sure if this is what you are looking for... but I created generic xacro files for testing description of different components in our lab.
I call this script with different parameters from a roslaunch test file. this is just test for parsing and if you want one can test also the description in rviz.
<?xml version="1.0"?>
<launch>
<arg name="type" default="tools"/>
<arg name="object_to_test" default="measurement_tool"/>
<!-- send urdf to param server -->
<param name="object_description" command="$(find xacro)/xacro --inorder '$(find iirob_description)/$(arg type)/urdf/$(arg object_to_test)/test_$(arg object_to_test).urdf.xacro'"/>
<!-- robot state publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="tool_state_publisher">
<param name="publish_frequency" type="double" value="50.0" />
<remap from="robot_description" to="object_description" />
</node>
<node pkg="rviz" type="rviz" args="-d $(find iirob_description)/common/rviz/test_objects.rviz" name="test_objects" required="true">
</node>
</launch>
If you want to test robots with non-static joints you could use something like this:
<?xml version="1.0"?>
<launch>
<arg name="pkg" default="iirob_kuka_bringup"/>
<arg name="file_name" default="r5"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find iirob_kuka_bringup)/urdf/$(arg file_name).urdf.xacro'" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<param name="use_gui" value="true"/>
</node>
<!-- robot state publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="tool_state_publisher">
<param name="publish_frequency" type="double" value="50.0" />
</node>
<node name="test_robots" pkg="rviz" type="rviz" args="-d $(find iirob_description)/common/rviz/test_robots.rviz" />
</launch>
I hope this can help you further....
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