diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..9a08e6b5313ca2dc6d3c06197085d847f4a41c6f --- /dev/null +++ b/README.md @@ -0,0 +1,40 @@ +# Description + +This ROS package contains physical descriptions of a Dynamixel pan&tilt device. + +The following files are provided by this package: + + * Xacro macro to be included in higher level urdf or xacro files. + + * An example xacro file to be used as an example of use of the macro. + +# Dependencies + +This node has the following dependencies: + + * [iri_dynamixel_pan_tilt_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/imu/iri_dynamixel_pan_tilt_gazebo) (for simulation only) + +# Installation + +- Move to workspace: `roscd && cd ../src` +- Clone the repository: `git clone https://gitlab.iri.upc.edu/labrobotica/ros/devices/ptu_d46/iri_dynamixel_pan_tilt_description.git` +- Compile: `roscd && cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release` + +# How to use it + +The [ax12_pan_tilt_example.xacro](https://gitlab.iri.upc.edu/labrobotica/ros/devices/dynamixel_pan_tilt/iri_dynamixel_pan_tilt_description/blob/master/urdf/ax12_pan_tilt_example.xacro) +file shows an example of how to include the xacro macro in another xacro file. + +The xacro macro has the following parameters: + + * **prefix:** name of the device used to specify the frames and joints to allow multiples instances. + + * **parent:** name of the parent frame of the IMU sensor. + + * **pan_joint_name:** name of the pan joint. + + * **tilt_joint_name:** name of the tilt joint. + + * **load_name:** name of the load frame. + + * **origin:** pose of the device with respect of the parent frame.