Eddie Description

Robot description for the Eddie robot in form of URDF files, controllers and meshes. Gripper not added.

Environment

Ubuntu: 24.04

ROS2: Jazzy

Setup

• Clone this repository into your workspace

  # Create workspace
  mkdir -p ~/eddie_ws/src && cd ~/eddie_ws/src
  
  # Clone repository
  git clone https://github.com/secorolab/eddie_description

• Build workspace

  cd ~/eddie_ws
  
  colcon build

• Clone ependendent packages

  cd ~/eddie_ws/src
  
  vcs import < eddie_description/dep.repos

Usage

• View robot in rviz

  cd ~/eddie_ws
  
  # Source workspace
  source install/setup.bash
  
  # View robot in rviz
  ros2 launch eddie_description display_eddie.launch.py joint_state_gui:=false

• View robot in rviz with joint state gui

  ros2 launch eddie_description display_eddie.launch.py joint_state_gui:=true

ROS Independent

• A MuJoCo model of the mobile base, mujoco/mobile_platform.xml, built from the same meshes and the same kinematics and inertial data as the URDF. Its drive and wheel frames agree with the URDF's to below a micrometre. Export the meshes from the CAD with mujoco/export_step_meshes.py and mujoco/export_torso.py.

Eddie

TODO: Image of Eddie with arms in rviz to be added