robomaster_description
- package robomaster_description
This package provides the URDF model of Robomaster robots. Hardware parts are modelled in separated xacro files, which are then assembled in the EP Core and S1 configurations. The models have realistic visual and physical (i.e, inertia and collision shapes) details and can be used for state estimation, simulation, and visualization.
Models
Parts
- model arm.urdf.xacro
The robot arm
- model base.urdf.xacro
The four-wheeled chassis
- model camera.urdf.xacro
The camera
- model extension.urdf.xacro
The metallic chassis extension to mount parts
- model gimbal.urdf.xacro
The gimbal and blaster
- model gripper.urdf.xacro
The gripper
- model intelligent_controller.urdf.xacro
The intelligent controller
- model led.urdf.xacro
One chassis LED (a submodel of base.urdf.xacro)
- model tof.urdf.xacro
The Time-of-flight distance sensor
- model wheels.urdf.xacro
One wheel (a submodel of base.urdf.xacro)
Robots
- model robomaster_ep.urdf.xacro
The assembled Robomaster EP Core with arm, gripper, and metallic extension. The intelligent controller is mounted in the extension. The camera in mounted on the arm.
- model robomaster_s1.urdf.xacro
The assembled Robomaster S1 with gimbal and blaster. The intelligent controller and the camera are mounted on the gimbal.
Launch files
- launch file model.launch.py
Evaluate the xacro model and passes it to robot_state_publisher.
- Arguments:
name – Name of the robot used as a tf prefix [Default:
""]model – The type of robot: ep or s1 [Default:
ep]camera_yaw – The camera orientation with respect to the arm [Default:
0.0]tof_0 – Add ToF sensor #0 [Default:
False]tof_0_parent – Parent frame of ToF sensor #0 [Default:
base_link]tof_0_xyz – Position of ToF sensor #0 [Default:
0 0 0]tof_0_rpy – Orientation of ToF sensor #0 [Default:
0 0 0]tof_1 – Add ToF sensor #1 [Default:
False]tof_1_parent – Parent frame of ToF sensor #1 [Default:
base_link]tof_1_xyz – Position of ToF sensor #1 [Default:
0 0 0]tof_1_rpy – Orientation of ToF sensor #1 [Default:
0 0 0]tof_2 – Add ToF sensor #2 [Default:
False]tof_2_parent – Parent frame of ToF sensor #2 [Default:
base_link]tof_2_xyz – Position of ToF sensor #2 [Default:
0 0 0]tof_2_rpy – Orientation of ToF sensor #2 [Default:
0 0 0]tof_3 – Add ToF sensor #3 [Default:
False]tof_3_parent – Parent frame of ToF sensor #3 [Default:
base_link]tof_3_xyz – Position of ToF sensor #3 [Default:
0 0 0]tof_3_rpy – Orientation of ToF sensor #3 [Default:
0 0 0]
- launch file main.launch
Import main.launch and launches joint_state_publisher. Use this launch file to launch everything needed for the robot model.
- Arguments:
joint_state_gui – If true, select the GUI version of join_state_publisher [Default:
false]joint_state_rate – The rate to publish joint_states [Default:
10.0]name – Name of the robot used as a tf prefix [Default:
""]model – The type of robot: ep or s1 [Default:
ep]camera_yaw – The camera orientation with respect to the arm [Default:
0.0]tof_0 – Add ToF sensor #0 [Default:
False]tof_0_parent – Parent frame of ToF sensor #0 [Default:
base_link]tof_0_xyz – Position of ToF sensor #0 [Default:
0 0 0]tof_0_rpy – Orientation of ToF sensor #0 [Default:
0 0 0]tof_1 – Add ToF sensor #1 [Default:
False]tof_1_parent – Parent frame of ToF sensor #1 [Default:
base_link]tof_1_xyz – Position of ToF sensor #1 [Default:
0 0 0]tof_1_rpy – Orientation of ToF sensor #1 [Default:
0 0 0]tof_2 – Add ToF sensor #2 [Default:
False]tof_2_parent – Parent frame of ToF sensor #2 [Default:
base_link]tof_2_xyz – Position of ToF sensor #2 [Default:
0 0 0]tof_2_rpy – Orientation of ToF sensor #2 [Default:
0 0 0]tof_3 – Add ToF sensor #3 [Default:
False]tof_3_parent – Parent frame of ToF sensor #3 [Default:
base_link]tof_3_xyz – Position of ToF sensor #3 [Default:
0 0 0]tof_3_rpy – Orientation of ToF sensor #3 [Default:
0 0 0]