创建工作空间

mkdir -p ~/ros_test/src
cd ~ros_test/src
catkin_init_workspace

cd ..
catkin_make

创建机器人模型功能包

catkin_create_pkg robot_test

创建urdf以及launch文件

cd ~/ros_test/src/robot_test/src
mkdir urdf luanch
cd urdf 
touch dd_robot.urdf
cd launch 
touch robot_rviz.launch

在dd_robot.urdf中添加

<?xml version='1.0'?>
<robot name="dd_robot">

	<!-- Base Link -->
	<link name="base_link">
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0" />
			<geometry>
				<box size="0.5 0.5 0.25" />			
			</geometry>
		</visual>
	</link>
</robot>

在launch文件中添加

<launch>

	<param name="robot_description" textfile="$(find robot_test)/urdf/dd_robot.urdf" />
	<param name="use_gui" value="true" />

	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot_test)/urdf.rviz" required="true" />	

</launch>

RVIZ中添加

（1）add下添加robot

（2）add下添加TF

（3）gloable下添加base_link