husarion_ugv_description

The package contains URDF and mesh files for Husarion UGV

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README

husarion_ugv_description

The package contains URDF files responsible for creating a representation of the robot by specifying the relationships and types of connections (joints) between individual links. It also contains information about the robot’s mesh.

Launch Files

• load_urdf.launch.py - loads the robot’s URDF and creates simple bindings to display moving joints.

• overwrite_robot_description.launch.py - launch is able to change robot_description topic in runtime.

• rviz.launch.py - launch RViz2 with basic configuration.

Configuration Files

• components.yaml: Allows you to quickly add visualization of sensors, TF connections and simulate their behavior in the simulator.

• WH01.yaml: Description of physical and visual parameters for the wheel WH01.

• WH02.yaml: Description of physical and visual parameters for the wheel WH02.

• WH04.yaml: Description of physical and visual parameters for the wheel WH04.

• WH05.yaml: Description of physical and visual parameters for the wheel WH05.