robotont_lite_description

Description package for robotont lite version that contains meshes, URDF and xacro files.

Dependencies

1. List of dependencies

• rviz
• urdf
• xacro

2. Install dependencies

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

This package depends on the robotont_description package.

So, make sure that robotont_description is cloned into the same ROS 2 workspace as robotont_lite_description.

Clone the repository

From the src folder of your workspace:

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

Build

From the root of your workspace:

cd ~/<YOUR_WORKSPACE_NAME>
colcon build --packages-select robotont_lite_description
source install/setup.bash

Usage

To display the robot model run:

ros2 launch robotont_lite_description display_robot_model.launch.py

Displays the robot's model in rviz, with different frame and lite module colors:

ros2 launch robotont_lite_description display_robot_model.launch.py primary_color:=light_blue

Supported formats for primary_color and secondary_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"

This launch file will start the necessary nodes and load the Robotont Lite description into RViz.