Robot Model

Renders a URDF robot model as a top-down 2D projection in the map scene. Supports box, cylinder, and sphere primitives as well as mesh geometry with diffuse textures and Lambert shading.

Parameters

Source	Where to read the robot description from: Topic (subscribes to a std_msgs/String topic, typically /robot_description, using a transient-local QoS to receive the last-published value immediately) or File (loads a URDF directly from a local file path)
Topic / File	The topic name or absolute file path, depending on the Source selection
Alpha	Overall opacity of the rendered model (0.0 - 1.0)