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swerve_robot_description package from swerve-sim-container repo

swerve_controller swerve_robot_description swerve_robot_gazebo

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/freshrobotics/swerve-sim-container.git
VCS Type git
VCS Version main
Last Updated 2023-02-24
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

Meshes and urdf for a swerve drive robot

Additional Links

No additional links.

Maintainers

  • Robotics Fresh Consulting

Authors

  • Robotics Fresh Consulting
src/swerve_robot_description/README.md

Swerve Robot Description

Overview

  • This package contains the robot urdf/xacro files, meshes and gazebo controller config for a swerve drive robot.

  • The simulation controller configuration/parameters can be found in config/sim_controllers.yaml.

  • The description.launch file parses the robot xacro file and launches robot_state_publisher to get /robot_description and /tf.

    • Args:
      1. sim: defaults to false. If true then loads Gazebo Control and Sensor Plugins.

Usage

The description.launch file is called by the simulator launch file with the appropriate argument.

URDF Structure

Main xacro file: urdf/swerve_robot.xacro imports the following:

  • Robot Base: urdf/include/swerve_robot_base.xacro
    • Robot chassis and base link: urdf/include/robot_parts/chassis.xacro
    • Steering link and joints: urdf/include/robot_parts/steering.xacro
    • Wheel link and joints: urdf/include/robot_parts/wheel.xacro
  • Gazebo ROS Control Plugin: urdf/include/gazebo_ros2_control.xacro
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
joint_state_publisher
robot_state_publisher
tf2
tf2_ros
urdf
xacro

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
swerve_robot_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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