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quori_description package from quori_ros repoquori_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.
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.
Notable Links
-
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).
Notable Links
-
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
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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