IBT ROS2 description

Nomenclature:

• Name of the product + DOF (6) + payload (18 kg) + reach (14, 1400 mm) + version of URDF (v2)

Folder structure

The entrypoint is robofox.urdf.xacro and it contains the kinematic chain of robofox with the parameters getted from the files .yaml contained in the correspoding config folder

ibt_ros2_description
├── config
│   ├── config.rviz
│   └── robofox_61814v3
│       ├── joint_limits.yaml
│       └── physical_parameters.yaml
├── launch
│   └── robofox_display.launch.py
├── meshes
│   └── robofox_61814v3
│       └── visual
│           ├── *.STL
└── xacro
    ├── robofox.urdf
    ├── robofox.urdf.xacro
    └── robofox.xacro

How to use

If you want to use *.urdf file remeber to regenerate it after changing of parameters joint_limits.yaml and physical_parameters.yaml using the command

~/ibt_ros2_description/xacro$ . ../install/setup.bash 
~/ibt_ros2_description/xacro$ xacro robofox.urdf.xacro > robofox.urdf