Overview

This package provides a URDF model of a generic quadrotor UAV. The visual geometry is provided as a COLLADA model and the collision geometry is provided as a STL mesh. The extensions/additions that allow the use of the model in gazebo simulation can be found in the hector_quadrotor_gazebo package.

Available Models

Currently, the following models are available:

  • quadrotor_base.urdf.xacro is the xacro macro for generating an instance of the quadrotor base (e.g. meshes, inertia etc.)

  • quadrotor.urdf.xacro provides a plain instance of the quadrotor base without additionally mounted sensors. This can be used for the 'robot_description' parameter.

  • quadrotor_hokuyo_utm30lx.urdf.xacro provides a instance of the quadrotor base with additional sensors, a Hokuyo UTM-30LX LIDAR as well as a forward facing camera. This can be used for the 'robot_description' parameter.

This is a Blender render of the COLLADA quadrotor model:

Wiki: hector_quadrotor_urdf (last edited 2012-03-07 07:44:08 by StefanKohlbrecher)