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quori_description package from quori_ros repo

quori_arm_controller quori_controller quori_description quori_face quori_holonomic_drive_controller quori_launch quori_mapping_odometry quori_nav quori_teleop respeaker_ros

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Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Quori-ROS/quori_ros.git
VCS Type git
VCS Version master
Last Updated 2021-12-16
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The quori_description package

Additional Links

No additional links.

Maintainers

  • Braden McDorman

Authors

No additional authors.
src/quori_description/README.md

quori_description

Contains the kinematic description in URDF format for both Quori and the RAMSIS base. Quori can be used with or without the RAMSIS base, so standalone and combined URDFs are provided.

Quori Standalone URDF (urdf/quori_standalone.xacro)

This URDF file allows one to use the Quori robot without the RAMSIS base attached.

Joints

  • waist_pitch (revolute) - The waist joint.
  • r_shoulder_pitch (revolute) - The first joint of the right arm.
  • r_shoulder_roll (revolute) - The second joint of the right arm.
  • l_shoulder_pitch (revolute) - The first joint of the left arm.
  • l_shoulder_roll (revolute) - The second joint of the left arm.
  • quori/base_link - The root of the Quori kinematic tree (Note: This is not the root when using the RAMSIS base with Quori)
  • quori/head_camera - The frame for the Orbbec Astra Mini.
  • quori/head_mic - The frame for the head-mounted ReSpeaker microphone array.

RAMSIS Standalone URDF (urdf/ramsis_standalone.xacro)

This URDF file allows one to use the RAMSIS holonomic base without Quori attached.

Joints

  • l_wheel (continuous) - The left wheel joint.
  • r_wheel (continuous) - The right wheel joint.
  • turret (continuous) - The rotational joint for the mounting plate on top of the RAMSIS base (typically occupied by Quori).
  • ramsis/base_link - The root of the RAMSIS kinematic tree (Note: This is the root when using both Quori and the RAMSIS base).
  • ramsis/base_laser_scanner - The frame for the RAMSIS-mounted 2D LIDAR.

Quori + RAMSIS URDF (urdf/quori.xacro)

This URDF contains all joints and links from both quori_standalone.xacro and ramsis_standalone.xacro. This URDF file should be used in the default configuration where Quori is mounted on top of the RAMSIS base.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
3 urdf
1 catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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