rm_description

Overview

This is a ROS package with description files of RoboMaster robot made by DynamicX.

Keywords: RoboMaster, URDF, description

Or, add some keywords to the Bitbucket or GitHub repository.

License

The source code is released under a BSD 3-Clause license.

Author: QiayuanLiao
Affiliation: DynamicX
Maintainer: QiayuanLiao, liaoqiayuan@gmail.com

The rm_description package has been tested under [ROS] Noetic on respectively 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• rm_gazebo if use_rm_gazbe
• gazebo_ros
• gazebo_ros_control
• xacro

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone git@github.com:gdut-dynamic-x/rm_description.git
# git clone https://github.com/gdut-dynamic-x/rm_description.git
cd ../
rosdep install --from-paths . --ignore-src
catkin build # Actually nothing to build

Usage

Run the simulation with:

roslaunch rm_description hero.launch

Config files

• worlds/empty.worlds Simulate physics eigen params.

Launch files

• hero.launch: Launch Gazebo and load hero robot.

Loading argument set

- **`load_chassis`** Load chassis URDF. Default: `true`.
- **`load_gimbal`** Load gimbal URDF. Default: `true`.
- **`load_shooter`** Load shooter URDF. Default: `true`.
- **`load_gazebo`** Load Gazebo params and run Gazebo. Default: `true`.
- **`use_rm_gazebo`** Use Gazebo params and run Gazebo. Default: `false`.
- **`paused`** Paused simulation when load Gazbeo. Default: `true`.

Chassis argument set - roller_type How to simulate the roller of mecanum wheel, set simple to use sphere roller for speed up simulation, set none for real robot. Default: realistic(use one sphere with two capsule roller.stl).

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker .

Changelog for package rm_description

0.1.9 (2022-04-01)

• Add omni wheel urdf
• Complete omni wheel urdf
• Add test launch file to check urdf
• Rename launch file.Delete roller_type in urdf.Change args of hook
• Merge pull request #21 from ye-luo-xi-tui/omni_wheel
• Fix errors of swerve urdf
• Add CI/CD action
• Create Doxyfile
• Create .pre-commit-config.yaml
• Add permissions to script
• Delete pre_release.yml
• Merge pull request #3 from YuuinlH/-master
• Merge pull request #4 from YuuinlH/-master
• Update deb_package.yml
• Merge pull request #5 from YuuinlH/-master
• Update package.sh
• Delete doxygen action(Uesless)
• Add\"none\"type of omni_wheel roller.Set\"none\"for real robot
• Fix error in check_joint.launch.Add rviz launch.
• Merge pull request #8 from ye-luo-xi-tui/-master
• Add LICENSE file
• Update the hero description files
• Modify the format error of hero urdf files
• Merge pull request #11 from Edwinlinks/-hero_urdf
• Contributors: Edwinlinks, QiayuanLiao, YuuinIH, qiayuan, yezi, mlione

0.1.8 (2021-12-7)

• Merge pull request #19 from ye-luo-xi-tui/fix_rmua_bug Fix rmua bug
• Change limit of rmua. (cherry picked from commit a1e4d841dd4cda83d50189a8f5d3bd84d604d244)
• Fix a bug in rmua urdf (cherry picked from commit cd6f7fac5c375cd74408620438039ca2c83437cd)
• Merge branch \'master\' into master
• Update standard4.urdf.xacro and rm_hw/config/standard4.yaml.
• Merge remote-tracking branch \'origin/master\'
• Merge pull request #16 from Edwinlinks/master Modify the date of standard in rm_description
• Modify the date of standard in rm_description
• Fix imu inertia and add imu to balance
• Merge branch \'master\' into gimbal/opti_or_simplify
• Update CHANGELOG
• Update standard5\'s imu orientation
• Update IMU orientation of standard5.urdf.xacro
• Merge branch \'master\' into gimbal/opti_or_simplify
• Merge branch \'master\' into gimbal/opti_or_simplify
• Update URDF of imu
• Contributors: BruceLannn, Edwinlinks, QiayuanLiao, YuuinIH, qiayuan, yezi

0.1.7 (2021-09-26)

• 0.1.6
• Update CHANGELOG
• Update URDF of imu
• Contributors: qiayuan

0.1.6 (2021-09-26)

• Update URDF of imu
• Contributors: qiayuan

0.1.5 (2021-09-02)

0.1.4 (2021-09-02)

0.1.3 (2021-09-01)

• Merge branch \'master\' into master
• Contributors: QiayuanLiao
• Merge branch \'master\' into master
• Contributors: QiayuanLiao

0.1.2 (2021-08-14)

• Run pre-commit
• Contributors: qiayuan

0.1.1 (2021-08-12)

• Reset all version to 0.1.0
• Contributors: qiayuan