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ASTRA Rover Description Files

License: AGPL v3

Contains URDF files, meshes, launch files, and configurations for Clucky and Testbed.

Table of Contents

Software Prerequisites

You need either ROS2 Humble with rosdep or Nix installed. Only ROS2 Humble on Jammy is currently supported, but ros2 launch <*_description> display.launch.py commands should be fully functional on Nix (with NixGL if not on NixOS).

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

Usage

Setup

Nix

With Nix, all you have to do is enter the development shell:

$ cd rover-ros2
$ nix develop

ROS2 Humble + rosdep

With ROS2 Humble on Ubuntu Jammy, start by using rosdep to install dependencies:

  # Setup rosdep (if not already):
$ sudo rosdep init
$ rosdep update
  # Install dependencies:
$ cd rover-ros2  # or whatever workspace you are using
$ rosdep install --from-paths src -y --ignore-src

Next, build and source the workspace:

$ colcon build  # recommended flag for developers: --symlink-install
$ source install/setup.bash  # or if you are using zsh: install/setup.zsh

Running

Here are the main launch commands for these packages:

$ 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

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.

Major To-Do Items

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

Maintainer(s)

Name Email Discord
David Sharpe ds0196@uah.edu ddavdd