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rm_description package from ros2_rm_robot repo

control_arm_move force_position_control get_arm_state rm_bringup rm_control rm_description rm_doc rm_driver rm_example rm_gazebo rm_install rm_63_config rm_65_config rm_75_config rm_eco63_config rm_eco65_config rm_gen72_config rm_ros_interfaces

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.0
License	TODO: License declaration
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/realmanrobot/ros2_rm_robot.git
VCS Type	git
VCS Version	humble
Last Updated	2025-01-09
Dev Status	UNMAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

ubuntu

Authors

No additional authors.

rm_description/README.md

[简体中文](https://github.com/RealManRobot/ros2_rm_robot/blob/humble/rm_description/README_CN.md)|[English](https://github.com/RealManRobot/ros2_rm_robot/blob/humble/rm_description/README.md)

# RealMan Robot rm_description User Manual V1.3 RealMan Intelligent Technology (Beijing) Co., Ltd. Revision History: |No. | Date | Comment | | :---: | :----: | :---: | |V1.0 | 2/19/2024 | Draft | |V1.1 | 7/8 /2024 | Amend(Add GEN72 adapter files) | |V1.2 | 9/11 /2024| Amend(Add ECO63 adapter files) | |V1.3 | 25/12/2024| Amend(Add 63, 65, 75, ECO65 six-axis force adapter files and 63, 65, 75, ECO63, ECO65 integrated six-axis force adapter files) |

Content

rm_description_Package_Description

rm_description is a function package for displaying the robot model and TF transformation. Through this package, we can realize the linkage effect between a virtual robotic arm in a computer and a real robot arm in reality. In the moveit2 control, we also need the support of this package. This package is introduced in detail in the following aspects.

1.Package use.
2.Package architecture description.
3.Package topic description. Through the introduction of the three parts, it can help you:
1.Understand the package use.
2.Familiar with the file structure and function of the package.
3.Familiar with the topic related to the package for easy development and use. Source code address:https://github.com/RealManRobot/ros2_rm_robot.git.
rm_description_Package_Use

First, after configuring the environment and completing the connection, we can directly start the node and run the rm_description package.

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_display.launch.py

In practice, the above needs to be replaced by the actual model of the robotic arm. The available models of the robotic arm are 65, 63, eco65, eco63, 75, and gen72.

The command to start the six-axis force version of the manipulator is (note: eco63 is not available):

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6f_display.launch.py

The command to start the integrated six-axis force version of the manipulator is :

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6fb_display.launch.py

For example, the launch command of 65 robotic arm:

rm@rm-desktop:~$ ros2 launch rm_description rm_65_display.launch.py

The following screen appears in the interface after successful node startup.
Then we need to launch the rm_driver node.

rm@rm-desktop:~$ ros2 launch rm_driver rm_<arm_type>_driver.launch.py

After a successful launch, we can check the state of the robotic arm in rviz2. Run the following command to launch rviz2.

rm@rm-desktop:~$ rviz2

Open the robot model with the following configuration.

Find the corresponding configuration file under the rviz folder of the rm_description package.
After loading, you can see the current state of the robotic arm in the interface of rviz2.

rm_description_Package_Architecture_Description

Overview_of_package_files

The current rm_driver package is composed of the following files.

├── CMakeLists.txt                # compilation rule file
├── launch
│   ├── rm_63_6f_display.launch.py  # 63 six-axis force launch file
│   ├── rm_63_6fb_display.launch.py # 63 integrated six-axis force launch file
│   ├── rm_63_display.launch.py     # 63 launch file
│   ├── rm_65_6f_display.launch.py  # 65 six-axis force launch file
│   ├── rm_65_6fb_display.launch.py # 65 integrated six-axis force launch file
│   ├── rm_65_display.launch.py     # 65 launch file
│   ├── rm_75_6f_display.launch.py  # 75 six-axis force launch file
│   ├── rm_75_6fb_display.launch.py # 75 integrated six-axis force launch file
│   ├── rm_75_display.launch.py     # 75 launch file
│   ├── rm_eco65_6f_display.launch.py  # eco65 six-axis force launch file
│   ├── rm_eco65_6fb_display.launch.py # eco65 integrated six-axis force launch file
│   ├── rm_eco65_display.launch.py  # eco65 launch file
│   ├── rm_eco63_6fb_display.launch.py # eco63 integrated six-axis force launch file
│   ├── rm_eco63_display.launch.py  # eco63 launch file
│   └── rm_gen72_display.launch.py  # gen72 launch file
├── meshes                       # model file storage folder
│   ├── rm_63_arm                 #63 robotic arm model file storage folder
│   │   ├── base_link.STL
│   │   ├── link1.STL
│   │   ├── link2.STL
│   │   ├── link3.STL
│   │   ├── link4.STL
│   │   ├── link5.STL
│   │   ├── link6_6f.STL
│   │   ├── link6_6fb.STL
│   │   └── link6.STL
│   ├── rm_65_arm                 #65 robotic arm model file storage folder
│   │   ├── base_link.STL
│   │   ├── link1.STL
│   │   ├── link2.STL
│   │   ├── link3.STL
│   │   ├── link4.STL
│   │   ├── link5.STL
│   │   ├── link6_6f.STL
│   │   ├── link6_6fb.STL
│   │   └── link6.STL
│   ├── rm_75_arm                 #75 robotic arm model file storage folder
│   │   ├── base_link.STL
│   │   ├── link1.STL
│   │   ├── link2.STL
│   │   ├── link3.STL
│   │   ├── link4.STL
│   │   ├── link5.STL
│   │   ├── link6.STL
│   │   ├── link7_6f.STL
│   │   ├── link7_6fb.STL
│   │   └── link7.STL
│   └── rm_eco65_arm                 #eco65 robotic arm model file storage folder
│   │   ├── baselink.STL
│   │   ├── Link1.STL
│   │   ├── Link2.STL
│   │   ├── Link3.STL
│   │   ├── Link4.STL
│   │   ├── Link5.STL
│   │   ├── Link6_6f.STL
│   │   ├── Link6_6fb.STL
│   │   └── Link6.STL
│   └── rm_eco63_arm                 #eco63 robotic arm model file storage folder
│   │   ├── baselink.STL
│   │   ├── Link1.STL
│   │   ├── Link2.STL
│   │   ├── Link3.STL
│   │   ├── Link4.STL
│   │   ├── Link5.STL
│   │   ├── Link6_6fb.STL
│   │   └── Link6.STL
│   └── rm_gen72_arm                 #gen72 robotic arm model file storage folder
│       ├── base_link.STL
│       ├── Link1.STL
│       ├── Link2.STL
│       ├── Link3.STL
│       ├── Link4.STL
│       ├── Link5.STL
│       ├── Link6.STL
│       └── Link7.STL
├── package.xml
├── README_CN.md
├── README.md
├── rviz                               #rviz2 configuration file storage folder
│   ├── rm_63.rviz
│   ├── rm_65.rviz
│   ├── rm_75.rviz
│   └── rm_eco65.rviz
│   └── rm_eco63.rviz
│   └── rm_gen72.rviz
├── textures
└── urdf
    ├── display_arm.rviz
    ├── rm_65_6f.urdf                   #65 six-axis force urdf description file
    ├── rm_65_6fb.urdf                  #65 integrated six-axis force urdf description file
    ├── rm_65_description.csv
    ├── rm_65_gazebo.urdf               #65 gazebo simulation urdf description file
    ├── rm_65_gazebo.urdf.xacro         #65 gazebo simulation xacro description file
    ├── rm_65.urdf                      #65 urdf description file
    ├── rm_65.urdf.xacro                #65 xacro description file
    ├── rm_75_6f.urdf                   #75 six-axis force urdf description file
    ├── rm_75_6fb.urdf                  #75 integrated six-axis force urdf description file
    ├── rm_75_description.csv
    ├── rm_75_gazebo.urdf               #75 gazebo simulation urdf description file
    ├── rm_75_gazebo.urdf.xacro         #75 gazebo simulation xacro description file
    ├── rm_75.urdf                      #75 urdf description file
    ├── rm_75.urdf.xacro                #75 xacro description file
    ├── rm_eco65_6f.urdf                #eco65 six-axis force urdf description file
    ├── rm_eco65_6fb.urdf               #eco65 integrated six-axis force urdf description file 
    ├── rm_eco65.csv
    ├── rm_eco65_gazebo.urdf            #eco65 gazebo simulation urdf description file
    ├── rm_eco65_gazebo.urdf.xacro      #eco65 gazebo simulation xacro description file
    ├── rm_eco65.urdf                   #eco65 urdf description file
    ├── rm_eco65.urdf.xacro             #eco65 xacro description file
    ├── rm_eco63_6fb.urdf               #eco63 integrated six-axis force urdf description file
    ├── rm_eco63.csv
    ├── rm_eco63_gazebo.urdf            #eco63 gazebo simulation urdf description file
    ├── rm_eco63_gazebo.urdf.xacro      #eco63 gazebo simulation xacro description file
    ├── rm_eco63.urdf                   #eco63 urdf description file
    ├── rm_eco63.urdf.xacro             #eco63 xacro description file
    ├── rm_gen72.csv
    ├── rm_gen72_gazebo.urdf            #gen72 gazebo simulation urdf description file
    ├── rm_gen72.urdf                   #gen72 urdf description file
    ├── rml_63_6f.urdf                  #63 six-axis force urdf description file
    ├── rml_63_6fb.urdf                 #63 integrated six-axis force urdf description file
    ├── rml_63_description.csv
    ├── rml_63_gazebo.urdf              #63 gazebo simulation urdf description file
    ├── rml_63_gazebo.urdf.xacro        #63 gazebo simulation xacro description file
    ├── rml_63.urdf                     #63 urdf description file
    └── rml_63.urdf.xacro               #63 xacro description file

rm_description_Topic_Description

The following is the topic description of the package.

  Subscribers:
    /joint_states: sensor_msgs/msg/JointState
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /robot_description: std_msgs/msg/String
    /rosout: rcl_interfaces/msg/Log
    /tf: tf2_msgs/msg/TFMessage
    /tf_static: tf2_msgs/msg/TFMessage
  Service Servers:
    /robot_state_publisher/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /robot_state_publisher/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /robot_state_publisher/get_parameters: rcl_interfaces/srv/GetParameters
    /robot_state_publisher/list_parameters: rcl_interfaces/srv/ListParameters
    /robot_state_publisher/set_parameters: rcl_interfaces/srv/SetParameters
    /robot_state_publisher/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients:

We mainly focus on the following topics.
Subscribers: represents the topics it subscribes to, where /joint_states represents the current state of the robotic arm, which is published by our rm_driver package when running so that the model in rviz moves according to the actual state of the robotic arm.
Publishers: represents the topics it currently publishes, where the most important published topics are /tf and /tf_static, which describe the coordinate transformation relationship between the joints of the robotic arm, namely TF transformation.
There are relatively few remaining topics and service use scenarios and you can learn by yourself.

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
rm_63_config
rm_75_config
rm_eco63_config
rm_eco65_config
rm_gen72_config

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rm_description` at Robotics Stack Exchange

API Docs Browse Code

rm_description package from rm_description repo

rm_description

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.1.9
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/rm-controls/rm_description.git
VCS Type	git
VCS Version	master
Last Updated	2022-06-16
Dev Status	DEVELOPED
CI status	Continuous Integration : 0 / 0
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

RoboMaster robot description files

Additional Links

No additional links.

Maintainers

Qiayuan Liao

Authors

Qiayuan Liao

README.md

rm_description

Overview

This is a ROS package with description files of RoboMaster robot made by DynamicX.

Keywords: RoboMaster, URDF, description

Or, add some keywords to the Bitbucket or GitHub repository.

License

The source code is released under a BSD 3-Clause license.

Author: QiayuanLiao
Affiliation: DynamicX
Maintainer: QiayuanLiao, liaoqiayuan@gmail.com

The rm_description package has been tested under [ROS] Noetic on respectively 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Example image

Installation

Building from Source

Dependencies

Robot Operating System (ROS) (middleware for robotics),
rm_gazebo if use_rm_gazbe
gazebo_ros
gazebo_ros_control
xacro

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone git@github.com:gdut-dynamic-x/rm_description.git
# git clone https://github.com/gdut-dynamic-x/rm_description.git
cd ../
rosdep install --from-paths . --ignore-src
catkin build # Actually nothing to build

Usage

Run the simulation with:

roslaunch rm_description hero.launch

Config files

worlds/empty.worlds Simulate physics eigen params.

Launch files

hero.launch: Launch Gazebo and load hero robot.

Loading argument set
- load_chassis Load chassis URDF. Default: true.
- load_gimbal Load gimbal URDF. Default: true.
- load_shooter Load shooter URDF. Default: true.
- load_gazebo Load Gazebo params and run Gazebo. Default: true.
- use_rm_gazebo Use Gazebo params and run Gazebo. Default: false.
- paused Paused simulation when load Gazbeo. Default: true.
Chassis argument set
- roller_type How to simulate the roller of mecanum wheel, set simple to use sphere roller for speed up simulation, set none for real robot. Default: realistic(use one sphere with two capsule roller.stl).

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker .

CHANGELOG

Changelog for package rm_description

0.1.9 (2022-04-01)

Add omni wheel urdf
Complete omni wheel urdf
Add test launch file to check urdf
Rename launch file.Delete roller_type in urdf.Change args of hook
Merge pull request #21 from ye-luo-xi-tui/omni_wheel
Fix errors of swerve urdf
Add CI/CD action
Create Doxyfile
Create .pre-commit-config.yaml
Add permissions to script
Delete pre_release.yml
Merge pull request #3 from YuuinlH/-master
Merge pull request #4 from YuuinlH/-master
Update deb_package.yml
Merge pull request #5 from YuuinlH/-master
Update package.sh
Delete doxygen action(Uesless)
Add"none"type of omni_wheel roller.Set"none"for real robot
Fix error in check_joint.launch.Add rviz launch.
Merge pull request #8 from ye-luo-xi-tui/-master
Add LICENSE file
Update the hero description files
Modify the format error of hero urdf files
Merge pull request #11 from Edwinlinks/-hero_urdf
Contributors: Edwinlinks, QiayuanLiao, YuuinIH, qiayuan, yezi, mlione

0.1.8 (2021-12-7)

Merge pull request #19 from ye-luo-xi-tui/fix_rmua_bug Fix rmua bug
Change limit of rmua. (cherry picked from commit a1e4d841dd4cda83d50189a8f5d3bd84d604d244)
Fix a bug in rmua urdf (cherry picked from commit cd6f7fac5c375cd74408620438039ca2c83437cd)
Merge branch 'master' into master
Update standard4.urdf.xacro and rm_hw/config/standard4.yaml.
Merge remote-tracking branch 'origin/master'
Merge pull request #16 from Edwinlinks/master Modify the date of standard in rm_description
Modify the date of standard in rm_description
Fix imu inertia and add imu to balance
Merge branch 'master' into gimbal/opti_or_simplify
Update CHANGELOG
Update standard5's imu orientation
Update IMU orientation of standard5.urdf.xacro
Merge branch 'master' into gimbal/opti_or_simplify
Merge branch 'master' into gimbal/opti_or_simplify
Update URDF of imu
Contributors: BruceLannn, Edwinlinks, QiayuanLiao, YuuinIH, qiayuan, yezi

0.1.7 (2021-09-26)

0.1.6
Update CHANGELOG
Update URDF of imu
Contributors: qiayuan

0.1.6 (2021-09-26)

Update URDF of imu
Contributors: qiayuan

0.1.5 (2021-09-02)

0.1.4 (2021-09-02)

0.1.3 (2021-09-01)

Merge branch 'master' into master
Contributors: QiayuanLiao
Merge branch 'master' into master
Contributors: QiayuanLiao

0.1.2 (2021-08-14)

Run pre-commit
Contributors: qiayuan

0.1.1 (2021-08-12)

Reset all version to 0.1.0
Contributors: qiayuan

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
rm_control
rm_gazebo

Launch files

launch/check_joint.launch
- - robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, hero, engineer]
  - load_chassis [default: true]
  - load_gimbal [default: true]
  - load_shooter [default: true]
  - load_arm [default: true]
  - roller_type [default: simple] — simple or realistic

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `rm_description` at Robotics Stack Exchange

API Docs Browse Code Wiki

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rm_description package from ros2_rm_robot repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Content

rm_description_Package_Description

rm_description_Package_Use

rm_description_Package_Architecture_Description

Overview_of_package_files

rm_description_Topic_Description

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged rm_description at Robotics Stack Exchange

rm_description package from rm_description repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

rm_description

Overview

License

Installation

Building from Source

Dependencies

Building

Usage

Config files

Launch files

Bugs & Feature Requests

Changelog for package rm_description

0.1.9 (2022-04-01)

0.1.8 (2021-12-7)

0.1.7 (2021-09-26)

0.1.6 (2021-09-26)

0.1.5 (2021-09-02)

0.1.4 (2021-09-02)

0.1.3 (2021-09-01)

0.1.2 (2021-08-14)

0.1.1 (2021-08-12)

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged rm_description at Robotics Stack Exchange

Recent questions tagged `rm_description` at Robotics Stack Exchange

Recent questions tagged `rm_description` at Robotics Stack Exchange