Overview
This package contains the the urdf, meshes and other files needed to create the rb1_base description. The package has the following folders:
- launch: In this folder you will find the launch files ready to be executed
- meshes: In this folder you will find the STL files of the different parts of the robots
- robots: In this folder you will find the final description of the robot, where all the parts are integrated
- urdf: Here you will find the different possible parts of the robot. Each one is a xacro file that will be included in the final description
Usage
To view and manipulate the non-fixed joints in rviz, install the package and execute the following command:
roslaunch rb1_base_description rb1_base_rviz.launch
On the other hand, if you are using either the simulation or the real robot you will have to execute the following command:
roslaunch rb1_base_description rb1_base_state.launch
In case you want to change the robot's urdf, this can be found inside the robots folder.