This page provides documentation on how to create a custom mounting mechanism to attach the robot arm to the USV.

Open mbzirc_ign/models/mbzirc_usv_base/model.sdf and add your new mounting slot. In this tutorial we'll create a new arm_slot_1 below the existing arm_slot_0:

  <!-- arm slot #0-->
  <frame name="arm_slot_0">
    <pose>0.0 1.1 0.74 0 0 1.5708</pose>
  </frame>

  <!-- arm slot #1-->
  <frame name="arm_slot_1">
    <pose>0.0 -1.1 0.74 0 0 -1.5708</pose>
  </frame>

Launch simulation and test spawning a USV with an arm attached to arm_slot_1.

    # launch coast world
    ros2 launch mbzirc_ros competition_local.launch.py ign_args:="-v 4 -r coast.sdf"

    # spawn the USV with an arm attached to `arm_slot_1`
    ros2 launch mbzirc_ign spawn.launch.py name:=usv world:=coast model:=usv x:=-1462 y:=-16.5 z:=0.3 R:=0 P:=0 Y:=0 arm:=mbzirc_oberon7_arm gripper:=mbzirc_oberon7_gripper arm_slot:=1

Here is a screenshot of the simulator with the arm attached to the new mounting slot:

Note that the parameter arm_slot should match the index of an existing arm slot. If this parameter is not present, it defaults to 0.