Contents
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:
