maila_description

Description

This package holds the urdf description of the robot.

Launch Files

For launching robot state publisher for filling up static tf information and serving the description of the robot. Typically used during robot bringup.

ros2 launch maila_description maila_description.launch.py

For launching the robot state publisher and providing some visualization with rviz to analyze the robot description.

ros2 launch maila_description view_maila.launch.py

TODO

• Maila is bigger than the one descripted here. Make it bigger!
• Xacros allows to load parameter from a yaml (see https://github.com/Ekumen-OS/andino/blob/humble/andino_description/urdf/andino.urdf.xacro#L7 ). Can we leverage this to extract relevant information from the xacro?

References:

• https://github.com/mlab-upenn/racecar-simulator
• https://github.com/Ekumen-OS/andino/blob/humble/andino_description