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dexarm_description

This package contains the URDF model, meshes, and associated configuration files for the DexArm robotic manipulator. It provides a detailed representation of the robot's physical and visual characteristics, enabling simulation and visualization within the ROS2 framework.

Installation

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/mounteverset/dexarm_description.git
sudo apt update
rosdep install --from-paths src --ignore-src -r -y

cd ~/ros2_ws
colcon build

source ~/ros2_ws/install/setup.bash

For the Usage Guidelines, users typically want to know how to visualize the robot model in RViz or launch it in a simulation environment. The launch/ directory provides controllers.launch.py, which starts the robot state publisher and loads the controllers needed for visualization.

Usage

To visualize the DexArm model in RViz:

ros2 launch dexarm_description controllers.launch.py

File Structure

The package is organized as follows:

  • urdf/: Contains the Xacro files defining the robot's URDF model.
  • meshes/: Holds the 3D models (in formats like STL or DAE) used for visualization and collision detection.
  • launch/: Includes launch files for starting various configurations of the robot in simulation or visualization tools.
  • config/: Stores configuration files, such as joint limits or physical parameters.
  • package.xml and CMakeLists.txt: Standard ROS2 package files containing metadata and build instructions.

License

This package is licensed under the BSD-3-Clause License. Please see the LICENSE file for more details.