Ayg Robot Description (URDF)

For the USD description, see the usd branch.

Overview

This package contains Ayg's robot description (URDF) developed by Cyber-Fusion.

License

This software is released under a BSD-3-Clause license.

Usage

The .xacro file accepts the following arguments:

• camera: Bool (default: False). If True, the robot has also the camera link.
• sim: Bool (default: False). If True, the URDF is augmented with Gazebo (not Gazebo Classic) tags for the robot's sensors and actuators.
• initial_configuration: {lying_down, standing_up} (default: lying_down). Sets the initial configuration of the robot in Gazebo (requires sim to be True).
• controller: {default, ddb} (default: default). Sets the controller to be used in Gazebo (requires sim to be True). These controllers are from the main repo.
• gazebo_version: {fortress, harmonic, ...} (default: fortress). Selects the Gazebo plugin naming convention. Use fortress for Gazebo Fortress (Ignition-era plugin names); any other value uses the newer gz-sim-* plugin names (e.g. for Gazebo Harmonic).

The pure .urdf file can be regenerated by running the following command:

ros2 run xacro xacro urdf/ayg.xacro sim:=False > urdf/ayg.urdf

It can be useful with certain libraries or tools (e.g. Pinocchio)

Launch Files

To visualize the robot model in RViz, run

ros2 launch ayg_description rviz.launch.py

To launch the robot description with mesh server for Cyber Fusion Studio, run

ros2 launch ayg_description ayg_description_for_studio.launch.py

This launch file starts the robot state publisher, joint state publisher GUI, and an HTTP server for serving mesh files.