Elite Robots CS ROS 2 Description

This repository provides the ROS 2 description package for Elite Robots CS and LS series robots. The package is named elite_robots_description and includes Xacro/URDF models, joint limits, kinematic and physical parameters, visual and collision meshes, and a launch file for viewing the robots in RViz2.

Supported Robots

The cs520h is a five-axis model. The launch file automatically selects its description from the urdf_5f directory.

Requirements

• ROS 2
• colcon
• rosdep
• RViz2, Xacro, Robot State Publisher, and Joint State Publisher GUI

Use rosdep to install the dependencies declared in package.xml.

Installation and Build

Clone this repository into the src directory of a ROS 2 workspace:

mkdir -p ~/elite_ros_ws/src
cd ~/elite_ros_ws/src
git clone <repository-url> Elite_Robots_CS_ROS2_Description

cd ~/elite_ros_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select elite_robots_description
source install/setup.bash

If the repository is already in a workspace, run the final three commands from the workspace root.

View a Robot in RViz2

The cs_type argument is required. For example, to view a CS63:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs63

Replace the model argument to view another supported robot:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs620
ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs520h

After launching, use the Joint State Publisher GUI to adjust the joint positions and inspect the model and TF tree in RViz2.

Common Launch Arguments

For example, to use a TF prefix and disable safety soft limits:

ros2 launch elite_robots_description view_cs.launch.py \
  cs_type:=cs66 \
  tf_prefix:=robot1_ \
  safety_limits:=false

Generate a URDF

After building and sourcing the workspace, expand the Xacro file directly:

xacro "$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf/cs.urdf.xacro" \
  cs_type:=cs63 \
  name:=cs63 \
  > /tmp/cs63.urdf

Use the five-axis entry point for cs520h:

```bash xacro “$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf_5f/cs.urdf.xacro” \

File truncated at 100 lines see the full file

Changelog for package elite_robots_description

1.0.0 (2026-07-28)

• Initial release for ROS 2 Humble.
• Added Xacro and URDF descriptions for the Elite Robots CS and LS series, including CS63, CS66, CS66A, CS68, CS612, CS616, CS618F, CS620, CS625, CS520H, and LS65.
• Added joint limits, kinematic, physical, and visual parameters for the supported robot models.
• Added visual and collision meshes, RViz2 configuration, and a launch file for inspecting robot descriptions.
• Added support for safety limits, TF prefixes, ros2_control integrations, simulated hardware, and configurable initial joint positions.
• Added tests for Xacro/URDF generation and the robot description launch file.