rm_description package from rm_description repo


Package Summary

Tags No category tags.
Version 0.1.9
License BSD
Build type CATKIN

Repository Summary

Checkout URI https://github.com/rm-controls/rm_description.git
VCS Type git
VCS Version master
Last Updated 2022-06-16
CI status Continuous Integration : 0 / 0
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RoboMaster robot description files

Additional Links

No additional links.


  • Qiayuan Liao


  • Qiayuan Liao



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.


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.

Example image


Building from Source



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


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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

  • launch/check_joint.launch
      • robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, hero, engineer]
      • load_chassis [default: true]
      • load_gimbal [default: true]
      • load_shooter [default: true]
      • load_arm [default: true]
      • roller_type [default: simple] — simple or realistic


No message files found.


No service files found


No plugins found.

Recent questions tagged rm_description at Robotics Stack Exchange