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Package Summary
Documented
The p3dx_urdf_model package
- Maintainer: Lukas Jelinek <lukas.jelinek1 AT gmail DOT com>
- Author:
- License: MIT
- Source: git https://github.com/hrnr/robo-rescue.git (branch: master)
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Contents
This package is based on package p2os_urdf. This package contains URDF model of robot Pioneer3dx with laser scaner, 16 ultrasonic sensors, 10 bumpers, gyroscope, accelerometer and camera. All names of links contain special format of names which is decribed below. This URDF file should be used with V-REP model of Pioneer3dx found in our github repo.
NAMING CONVENTION
- Robot links use this naming convention:
- FOR SENSORS:
- robot_id/node_name(category of sensors)/sensor + number from 0 to n example:
- 0/ultrasonicSensors/sensor0
- robot_id/node_name(category e.g. arm,base)/joint + number from 0 to n example:
- 0/base/joint0
- robot_id/part_name example:
- 0/top_plate
- robot_id/node_name(category of sensors)/sensor + number from 0 to n example:
- Parameter robot_id is set in top level xacro script. It must include / at the end of indetifier (robot_id=p3dx/)
- This parameter is NOT good substitution for tf_prefix. It should be used in case there is need for specific namespace.