aron_description

Overview

This package contains the URDFs and meshes for Aron. The STL files are located in the meshes directory. Next, the URDFs for the robot are located in the urdf directory.
All the other ROS packages in the reference this package to launch the robot model.

Structure

This package contains the aron_description.launch file responsible for loading the robot model. It launches up to four nodes as described below:

robot_state_publisher - uses the URDF specified by the parameter robot_description and the joint positions from the joint_states topic to calculate the forward kinematics of the robot and publish the results via tf.
joint_state_publisher - responsible for parsing the 'robot_description' parameter to find all non-fixed joints and publish a JointState message with those joints defined.
joint_state_publisher_gui - does the same thing as the 'joint_state_publisher' node but with a GUI that allows a user to easily manipulate the joints.
rviz - displays the virtual robot model using the transforms in the 'tf' topic.

Usage

To run this package, type the line below in a terminal:

roslaunch aron_description aron_description.launch use_joint_pub_gui:=true

This is the bare minimum needed to get up and running. Take a look at the table below to see how to further customize with other launch file arguments.

Argument	Description	Default Value
robot_name	name of the robot (typically equal to `aron`, but could be anything)	'aron'
base_link_frame	name of the `root` link; typically `base_link`, but can be changed if attaching aron to a mobile base that already has a `base_link` frame	'base_link'
use_world_frame	set this to true if you would like to load a `world` frame to the `robot_description` parameter which is located exactly at the `base_link` frame of the robot; if using multiple robots or if you would like to attach the `base_link` frame of the robot to a different frame, set this to false	true
use_joint_pub	launches the joint_state_publisher node	false
use_joint_pub_gui	launches the joint_state_publisher GUI	false
use_rviz	launches Rviz	true
rvizconfig	file path to the config file Rviz should load	'rviz/aron_description.rviz'
model	file path to the robot-specific URDF including arguments to be passed in	'urdf/aron.urdf.xacro'

3D Interactive view

This is the Aron model, click on the view to interact.

andreagavazzi / aron_description Goto Github PK