/cabot-description

Primary LanguageCMake

License: MIT

CaBot Description

Package Description
cabot_description robot URDF description

Requirements for CaBot

  • To deal with a footprint that includes the robot and the user, CaBot has a unique TF tree
  • TF Frames
    • odom
    • base_footprint (param name: base_frame)
    • base_control_shift (param name: offset_frame)
  • Adjustable Joint (from base_footprint to base_control_shift) for left handed configuration
    • base_joint (param name: TBD, not configurable now)
      • type="prismatic"
    • lower="0"
    • upper="0.25"

Image of CaBot frames

License

MIT License

The following files/folder are under Apache-2.0 License

  • cabot_description/urdf/sensors/_d435.gazebo.xacro
  • cabot_description/urdf/sensors/_d435.urdf.xacro