RViz2 Launch

This launch file starts Rviz2 for visualizing the robot model and its state.

Command

ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py [arguments]

Arguments

mode: Robot operation mode. Choose between:
- real: Connect to physical Doosan robot.
- virtual: Run in simulator/emulator mode.
model: Robot model name (e.g., m1013, a0509, etc.)
host: IP address of the robot controller (real mode) or emulator (virtual mode)

Examples

Launch

To ensure proper launch and connection, the mode and host arguments should be configured accordingly.

Using a real robot:

Establish an Ethernet connection with your PC.

Verify the IP address on the robot controller and ensure it matches the connection settings.
```
ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=real host:=192.168.137.100 model:=m1013
```

Using a virtual robot:

Virtual IP address will always be 127.0.0.1.

ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=virtual host:=127.0.0.1 model:=m1013

Launch with different model and configurations:

ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=virtual host:=127.0.0.1 model:=m0609

ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=virtual host:=127.0.0.1 model:=h2017 color:=blue

Note

You can check the available robot models in the dsr_description2 package.

Example move

Once RViz2 is running, you can test the setup by executing a simple motion script.

Open a new terminal and run the following command:

ros2 run dsr_example single_robot_simple

Note

Example scripts are available in dsr_example2 package.

Or you can directly move the robot by calling a service or topic :

ros2 service call /dsr01/motion/move_joint dsr_msgs2/srv/MoveJoint "{
     pos: [0.0, 0.0, 90.0, 0.0, 90.0, 0.0],
     vel: 100.0,
     acc: 100.0,
     time: 2.0,
     mode: 0,
     radius: 0.0,
     blend_type: 0,
     sync_type: 0
     }"