robotont_description

Overview

Description package for robotont.

Table of Contents

• Installation
• Dependencies
• Building the Package
• Launch Files
• License

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Installation

1. Clone the Repository

cd ~/<YOUR_WORKSPACE_NAME_HERE>/src
git clone https://github.com/robotont/robotont_description.git

Dependencies

1. List of dependencies

1.1. rviz
1.2. urdf
1.3. xacro

2. Install dependencies

cd ~/<YOUR_WORKSPACE_NAME_HERE>
rosdep install --from-paths src --ignore-src -r -y

Building the package

cd ~/<YOUR_WORKSPACE_NAME_HERE>
colcon build --packages-select robotont_description

Launch files

1. Source workspace

source ~/<YOUR_WORKSPACE_NAME_HERE>/install/setup.bash

2. Available launch files

Supported parameters:

Name	Default	Description
generation	3	Specify the generation of robotont model that is to be loaded (2.1 and 3 are supported)

2.1. Display simulated robot

Displays the robot's model in rviz, starts joint_state_publisher and robot_state_publisher

#### Load generation 3 model
ros2 launch robotont_description display_robot_model.launch.py

Displays the robot's model in rviz, with different frame colors (blue, light_blue, purple, yellow, green, dark_green, black, gray):

#### Load generation 3 model with specific frame color
ros2 launch robotont_description display_robot_model.launch.py primary_color:=light_blue

Supported formats for primary_color:

• color name: primary_color:=lightblue
• RGBA (0..1): primary_color:="0.16 0.65 0.98 1.0"
• RGBA (0..255): primary_color:="41 166 250 255"
• HEX: primary_color:="#29a6faff"

#### Load generation 2.1 model
ros2 launch robotont_description display_robot_model.launch.py generation:=2.1

2.2. Description

Starts joint_state_publisher and robot_state_publisher, robot model is published on /robot_description topic.

ros2 launch robotont_description upload_description.launch.py

License

This project is licensed under the Apache 2.0 license - see the LICENSE file for more information.