robotnik_description

This package includes the description for Robotnik robots.

Available robots are:

• RB-Kairos
• RB-Theron
• RB-Vogui
• RB-Robout
• RB-Summit

Available robot models are:

• RB-Kairos+
• RB-Theron+
• RB-Vogui+
• RB-Robout+

Quick Usage

ros2 launch robotnik_description robot_description.launch.py robot:=ROBOT [robot_model:=ROBOT_MODEL]

Launches the description of a ROBOT, specifically ROBOT_MODEL.

Structure

The description of a robot is divided into three parts:

• robot: The whole robot, including all its parts and customizations.
• base: The basic unit for each robot, composed of chassis + wheels.
• body: The chassis of each robot.

This repository contains three high-level folders:

• robots: Contains the URDF for complete robots, including the mobile base, arms, sensors, etc.
• urdf: Contains the URDF files of components that compose a robot.
• meshes: Contains the 3D meshes for each individual component of the robots.

Robots

The robots folder contains a folder for each robot type:

• rbkairos
• rbrobout
• rbsummit
• rbvogui
• rbtheron

Inside each robot type folder, there may exist several versions.

URDF

The urdf folder contains a folder for each main component:

• bases: Body of robots, including wheels, structures, and arms.
• bodies: Includes chassis.
• structures: Other structures included in a robot (e.g., columns, protection, elevator, support, etc.).
• wheels: Contains the different types of wheels.

Launch

The launch files in this package run the robot_state_publisher node, publishing the topic robot_description.

Nodes

• robot_state_publisher (robot_state_publisher/robot_state_publisher)

  Standard robot_state_publisher node from robot_state_publisher.

Topics

Input Topics

• joint_states (sensor_msgs/msg/JointState)

  The joint state updates to the robot poses.

Output Topics

• ~/robot_description (std_msgs/msg/String)

  The description of the robot URDF as a string.

• tf (std_msgs/msg/String)

  The transforms corresponding to the movable joints of the robot.

• tf_static (std_msgs/msg/String)

  The transforms corresponding to the static joints of the robot.

Arguments

• namespace (string, default: robot)

  Adds a namespace to this launch.

• robot (string, default: ``)

  Specifies which robot to select from the robots folder.

• robot_model (string, default: same as robot)

  Specifies the model to use from the robots folder.

• robot_xacro_path (string, default: none)

  Absolute path to specify a custom URDF/Xacro robot description, discarding the robot and robot_model arguments.

• gazebo_ignition (boolean, default: False)

  Boolean to set if simulating in Gazebo Ignition.

• gazebo_classic (boolean, default: False)

  Boolean to set if simulating in Gazebo Classic. To be deprecated.

Usage

ros2 launch robotnik_description robot_description.launch.py robot:=rbkairos

Launches the description for the RB-Kairos mobile base.

ros2 launch robotnik_description robot_description.launch.py robot:=rbkairos robot_model:=rbkairos_plus

Launches the description for the RB-Kairos with a UR arm.

ros2 launch robotnik_description robot_description.launch.py robot:=rbkairos robot_model:=rbkairos_plus namespace:=robot_b

Launches the description for the RB-Kairos with a UR arm, under the namespace robot_b.