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Lab 2: Advanced ROS 2 & URDF

Objective​

Create a custom URDF for a simple humanoid and visualize it in Rviz2.

Steps​

  1. Create a Package: 
    ros2 pkg create --build-type ament_python my_humanoid_description
  2. Create URDF: Create urdf/humanoid.urdf with a base link, torso, and head.
  3. Create Launch File: Create launch/display.launch.py to launch robot_state_publisher and rviz2.
  4. Visualize: Run the launch file and verify the TF tree in Rviz2.

Deliverable​

A screenshot of your humanoid in Rviz2 with the TF tree expanded.