ROS package for the UdG robotics master students, that aims to cover the basics of URDF with examples for the following scenarios:
- Simple serial manipulator using URDF defined geometries.
- Serial manipulator with attached gripper defined by its own URDF and in a different ROS package unal_gripper_pkg.
- Dual arm robot URDF, robot manipulators that share a common base link.
- Multi robot definition, robots who are independent from each other between themselves, a "swarm" robot example like.
Executed running the following in the linux terminal:
roslaunch udg_ros_intro tutobot_viz.launch
The following is the tf tree showing how the robot links are related.
This example showcases how a Xacro macro defined robot can be included seamlessly in a general URDF, allowing for example, a dual arm robot. Executed running the following in the linux terminal:
roslaunch udg_ros_intro dual_tutobot_viz.launch
Here, the tf tree shows how both manipulators have their own link chain, but share a common base_link.
In this case we load two robot_descriptions in the ROS parameter server, meaning that each robot is kinematically independent from the other.
This example showcases the use of the namespace and the tf_prefix variables in the launch file.
Executed running the following in the linux terminal:
roslaunch udg_ros_intro multi_tutobot_viz.launch
Following is the tf tree, any robot in ROS should have a parent link from where it gets its position, here the common parent for the robots is the world frame, besides that, the robots are independent from each other.
