This repository is intended to contain Unified Robot Description Format (URDF) and related files for the Researchlab Autonomous Shipping Delft.
This image shows an rviz2 representation of two Tito Neri ships, using the urdf description of this model in this repo.
Related urdf files can be found in the /urdf folder. The rviz folder has rviz2 settings that we found nice. To use Rviz2 the tf's and robot description need to be streamed on the appropriate topics.
A transformation tree for the ship links commonly looks like this:
Rviz will display ships if:
- Its transformation (world->body) is published on /tf (default bodyframe is named vesselID/base_link)
- A robot description (URDF) is published on /vesselID/robot_description
(optional) joints will be displayed if their respective transforms are published on /tf
You can launch Rviz with default fleet settings , after building the package and sourcing the workspace:
ros2 launch ras_urdf_common rviz_bringup.launch.py