scuttle_description

Provides the geometric description of the SCUTTLE robot for use with RViz, Gazebo and other ROS nodes.

Dependencies

The configurations in this repository assume you have the following prerequisites installed on the device on which you want to run this code. That device might be an Ubuntu machine or a physical SCUTTLE using Raspberry Pi OS.

1. ROS Noetic with the robot_state_publisher and joint_state_publisher packages.
2. A working ROS workspace.

Contents

This repository contains different folders for the different parts of the robot description.

• The URDF files that describe the SCUTTLE robot for ROS, RViz and Gazebo.
  • urdf/scuttle.xacro - The geometric description of scuttle with the different link and joint elements.
  • urdf/scuttle.trans - Contains the description of the different actuators in SCUTTLE.
  • urdf/materials.xacro - Specifies the material properties for Gazebo and Rviz
  • urdf/scuttle.gazebo - The Gazebo specific additions to the model, e.g. the differential drive and the different sensors.
• The meshes directory contains the STL mesh files for the different scuttle parts. Generally there will be a visual mesh and a collision mesh for each part.. The visual mesh is generally finer and more detailed.
• The rviz directory contains the configuration file for RViz

Usage

In general the scuttle_description package will not directly be launched. It is designed to be referenced by other SCUTTLE ROS packages.

The most useful launch file is the [launch/rviz.launch] file which will launch RViz.