Mulinex Robots Description

ROS2 package with URDF descriptions for the Mulinex robot family.

Robots

Mulinex (urdf/mulinex.xacro) — Quadruped

Parameter	Values	Default	Description
feet_type	normal, omni, goat, track	omni	Foot type (Otto, OmniQuad, GoatQuad, track)
simplify_meshes_lower_leg	true, false	true	Use convex-hull collision meshes for shanks
use_gazebo	true, false	false	Include Gazebo plugins and ros2_control
jnt_prefix	string	""	Prefix for all joint/link names
{LF,LH,RF,RH}_{HFE,KFE}	float (rad)	0.0	Initial joint positions

Mulinex White (urdf/mulinex_white.xacro) — New Quadruped

Placeholder! Has the correct initial configuration but the body is not yet updated to the new design.

OmniCar (urdf/omnicar.xacro) — Wheeled (mecanum)

Parameter	Values	Default	Description
use_gazebo	true, false	false	Include Ignition Gazebo plugins and ros2_control
yaml_file	path	""	Controller config YAML (from mulinex_ignition)
lidar_3D	true, false	true	3D LiDAR (900x15 rays) vs 2D (360 rays)
jnt_prefix	string	""	Prefix for all joint/link names

Sensors: IMU (100 Hz), LiDAR (50 Hz), RGBD camera (30 Hz, 320x240).

Usage

Visualize in RViz

ros2 launch mulinex_description display_mulinex.launch.py

Simulate in Gazebo

ros2 launch mulinex_description gazebo_mulinex.launch.py