IBT ROS2 description

Nomenclature for robofox:

• Name of the product + DOF (6) + payload (18 kg) + reach (14, 1400 mm) + version of URDF (v2)

Folder structure

The entrypoint is always *.urdf.xacro for each robots and it contains the kinematic chain of the selected robot with the parameters getted from the files .yaml contained in the correspoding config folder

ibt_ros2_description
├── config
│   ├── config.rviz
│   └── robofox_61814v3
│       ├── joint_limits.yaml
│       └── physical_parameters.yaml
├── launch
│   ├── amr_display.launch.py
│   └── robofox_display.launch.py
├── meshes
│   ├── amr
│   │   ├── *.STL
│   └── robofox_61814v3
│       └── visual
│           ├── *.STL
└── xacro
    ├── amr
    │   ├── amr.urdf.xacro
    │   └── amr.xacro
    └── robofox
        ├── robofox.urdf
        ├── robofox.urdf.xacro
        └── robofox.xacro

How to use

If you want to use *.urdf file remeber to regenerate it after changing of parameters joint_limits.yaml and physical_parameters.yaml using the command

~/ibt_ros2_description/xacro$ . ../install/setup.bash 
~/ibt_ros2_description/xacro$ xacro robofox.urdf.xacro > robofox.urdf