Youbot_description

Robot description in form of URDF files and meshes

robot name is: youbot
---------- Successfully Parsed XML ---------------
root Link: world has 1 child(ren)
    child(1):  virtual_link_xy
        child(1):  virtual_link_yz
            child(1):  base_footprint
                child(1):  base_link
                    child(1):  arm_link_0
                        child(1):  arm_link_1
                            child(1):  arm_link_2
                                child(1):  arm_link_3
                                    child(1):  arm_link_4
                                        child(1):  arm_link_5
                                            child(1):  pen
                    child(2):  base_laser_front_link
                    child(3):  caster_link_bl
                        child(1):  wheel_link_bl
                    child(4):  caster_link_br
                        child(1):  wheel_link_br
                    child(5):  caster_link_fl
                        child(1):  wheel_link_fl
                    child(6):  caster_link_fr
                        child(1):  wheel_link_fr
                    child(7):  plate_link

This Youbot robot is a modified version of the Youbot sold by Kuka until 2016 as part of an internship with the University of Ostfalia, Wolfenbüttel.

Launch Rviz

cd youbot_description
colcon build
ros2 launch youbot_description rviz.launch.py

Launch Gazebo

cd youbot_description
colcon build
export GAZEBO_MODEL_PATH=$PWD/sdf
ros2 launch youbot_description gazebo.launch.py

Examples

Move joint (Gazebo)

# launch gazebo
ros2 topic pub /youbot/set_joint_trajectory trajectory_msgs/msg/JointTrajectory "{header: {frame_id: world}, joint_names: {youbot::arm_joint_2}, points: [{positions: {1.0}}]}"