This package contains a simplified robot description (URDF) of the Mulinex robot. The shanks collisions can be changed. You can use both real meshes or simplified ones.
Compile and source the workspace with
colcon build --symlink-install && . install/setup.bashTo visualize and debug the robot description, start the standalone visualization (note that you have to provide the following additional dependencies: joint_state_publisher, joint_state_publisher_gui, robot_state_publisher, rviz2, xacro):
ros2 launch mulinex_description display_mulinex.launch.pyIn the mulinex.xacro file there is a flag called feet_type, which is devoted to choose the feet type of the robot. One can choose between several options by simply writing the name in the field:
normal: use the robot with normal feet;
omni: use the robot with omniwheels;
goat: use the robot with goat feet.