ASTRA Rover Description Files

About

• Contains URDF files, meshes, launch files, and configurations for Clucky and Testbed.
• Included packages:
  • arm_description - Includes a URDF file, meshes, and launch files for Arm.
  • arm_moveit_config - Includes configuration and launch files for using Moveit2 with the astra arm.
  • core_description - Includes URDF/Xacro files, launch files, and configurations for Core (Clucky, not Testbed).
  • core_gazebo - Configuration and launch files for simulating Clucky with Gazebo.

Table of Contents

1. Title
2. Table of Contents
3. Software Requirements
   1. ROS2 Humble
4. Hardware Requirements
5. Recommended Programs
6. How to Use
7. Common Problems/Troubleshooting
8. Major To-Do Items
9. Author(s)
10. Maintainer(s)

Software Requirements

Since July/August of 2025, ASTRA uses NixOS. A functioning NixOS installation is assumed.

Uses ros2_control, Moveit2, and Gazebo Ignition Fortress (NOT Classic).

ROS2 Humble

We use ROS2 Humble, and plan on using that until support for it expires.

To install ROS2, run the following command in your /etc/nixos folder:

nix flake init --template github:lopsided98/nix-ros-overlay

Hardware Requirements

• A functioning computer.

Recommended Programs

VSCode

VSCode is a wonderful program. I used it to make this project and recommend anyone else working on it use it as well.

To install VSCode, add the following package to your pkgs array / packages.nix config file:

vscode-fhs

Alternatively, use a flake to install home-manager, and add to your home.nix:

vscode.enable = true;

How to Use

$ colcon build
$ source install/setup.bash
# main launch files:
$ ros2 launch core_description display.launch.py  # View Core URDF in RViz
$ ros2 launch arm_description display.launch.py  # View Arm URDF in RViz
$ ros2 launch core_gazebo core.gazebo.launch.py  # Simulate Clucky in Gazebo with diff_drive_controller
$ ros2 launch arm_moveit_config demo.launch.py  # Run Moveit2 for Arm IK

Common Problems/Troubleshooting

• For core.gazebo.launch.py, sometimes the controllers do not get correctly loaded and configured.

Major To-Do Items

• Reduce STL file complexity
• Add proper textures to Core and Arm
• Convert Arm to Xacro

Author(s)

Name	Email
David Sharpe	ds0196@uah.edu

Maintainer(s)

Name	Email
David Sharpe	ds0196@uah.edu