Define properties - NTheuws/linorobot2_software GitHub Wiki

linorobot2_description package has parameterized xacro files that can help you kickstart writing the robot's URDF. Open <robot_type>.properties.urdf.xacro in linorobot2_description/urdf directory and change the values according to the robot's specification/dimensions. All pose definitions must be measured from the base_link (center of base) and wheel positions (ie wheel_pos_x) are referring to wheel 1.

For custom URDFs, you can change the urdf_path in description.launch.py found in linorobot2_description/launch directory.

Robot Orientation:

--------------FRONT--------------

WHEEL1 WHEEL2 (2WD/4WD)

WHEEL3 WHEEL4 (4WD)

--------------BACK--------------

Build the robot computer's workspace to load the new URDF:

cd <robot_computer_ws>
colcon build

The same changes must be made on the host machine's <robot_type>.properties.urdf.xacro if you're simulating the robot in Gazebo. Remember to also build the host machine's workspace after editing the xacro file.

cd <host_machine_ws>
colcon build

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