This repo contains the robot and sensor descriptions used with WoLF.
See the documentation here.
To add a new robot you can start by copying the structure of an existing one. The robot descriptions are defined as ROS packages, so you will need to add it to your ROS workspace. The required files in the package are the following:
params/robot_name_params.yaml
it contains the controller parameters, use this file to tune a robot.robots/robot_name.urdf.xacro
it is the robot URDF description describing the kinematics and dynamics of the robot.robots/robot_name.srdf.xacro
it is the robot SRDF description, use this file to define the kinematic chains and default postures.
You can add plotjuggler and rviz visualization files in the respective folders plotjuggler
and rviz
. The folder urdfs
can be used to store extra xacro files useful for the robot description. And last but not least, don't forget the robot's meshes in the meshes
folder, unless your robot is a stealth one :)
To launch the new robot with the WoLF controller:
roslaunch wb_controller wb_controller_bringup.launch robot_name:=new_robot