Description
This ROS package contains physical descriptions of the Ana robot, based on the Pioneer3 platform from ActivMedia.
Dependencies
This node has the following dependencies:
- iri_pioneer3_description
- iri_bno055_imu_description
- iri_velodyne_lidar_description
- iri_realsense_depth_description
- robot_state_publisher
- xacro
Install
This package, as well as all IRI dependencies, can be installed by cloning the repository inside the active workspace:
roscd
cd ../src
git clone https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_description.git However, this package is normally used as part of a wider installation (i.e. a robot, an experiment or a demosntration) which will normally include a complete rosinstall file to be used with the wstool tool.
How to use it
The following files are provided:
- helena.xacro: an example xacro file of how to include the xacro macro.
This package also includes two launch files intended to simplify the use both the real and the simulated robot:
- description.launch: loads the robot description with the appropiate model and creates an instance of the robot_state_publisher ROS node. It has these arguments:
** ns: (default: ana) base name given to the platform related nodes.
** model: (default: ana_example) name of the xacro file to include.
** static_wheels: (default: false) enables launching static transforms for wheel joints