URDF model for iRobot Create, aptima-ros-pkg

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Jeff Rousseau announced a basic URDF model for the iRobot Create as well as new aptima-ros-pkg code repository

Hi all,

I've put together a basic URDF for the iRobot Create platform. It's available for download through our new svn repo:

svn checkout http://aptima-ros-pkg.googlecode.com/svn/trunk/irobotcreatedescription

(Note: currently it relies on the erratic_gazebo_plugins pkg to implement its diff-drive)

Comments, bug reports and patches are appreciated

I plan to add/fix in the not too distant future:

  • a working bumper
  • tweak mass/friction params to be more realistic (they're fudged at the moment)
  • fix intermittent 'wobble' when transitioning between translation and rotations (friction coeff issue?)

enjoy,
Jeff

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This page contains a single entry by kwc published on September 14, 2010 5:46 PM.

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