haruto_description

This repository is for haruto robot related urdf model

Dependencies involved

• robot_state_publisher
• joint_state_publisher_gui

Install dependencies

  rosdep install --from-paths src/haruto_description -y --ignore-src

Build and Execution

• To build the package

  colcon build --packages-select haruto_description

• To visualize the robot in rviz

  ros2 launch haruto_description visualize_robot_standalone.launch.py

• To visualize the robot in gazebo and rviz (for omnidirectional robot)

  ros2 launch haruto_description visualize_robot_simulation.launch.py robot_type:=omni

• To visualize the robot in gazebo and rviz (for differential robot)

  ros2 launch haruto_description visualize_robot_simulation.launch.py robot_type:=diff

Working video