chessaton's models, urdfs, sdfs and joint configurations.
.
├── chessaton
│ └── model.sdf
├── CMakeLists.txt
├── config #joints and controllers configuration
│ ├── controllers_effort.yaml
│ ├── controllers_position,velocity.yaml
│ ├── controllers_position.yaml
│ ├── controllers_velocity.yaml
│ └── initial_joint_positions.yaml
├── launch
│ ├── view_gz.launch.py #robotic arm sim in gazebo
│ └── view.launch.py #robotc arm in rviz2
├── meshes
│ ├── chessaton_gripper.STL
│ ├── chessaton_link0.STL
│ ├── chessaton_link1.STL
│ ├── chessaton_link2.STL
│ ├── chessaton_link3.STL
│ ├── chessaton_link4.STL
│ ├── left_finger.STL
│ ├── right_finger.STL
│ └── sensors
├── package.xml
├── README.md
├── rviz #rviz2 setups
│ ├── view_robot.rviz
│ └── view_with_camera.rviz
├── scripts #conversion scripts
│ ├── xacro2sdf.bash
│ ├── xacro2sdf_direct.bash
│ └── xacro2urdf.bash
├── urdf
│ ├── chessaton.csv #metadata and details of parts
│ ├── chessaton_gazebo.xacro #config related to gazebo sim, ros2 controllers and gazebo_grasp plugin
│ ├── chessaton_hand.xacro #xacro of sections related to gripper
│ ├── chessaton_include.xacro #colors ...
│ ├── chessaton.ros2_control #macros to add ros2_control
│ ├── chessaton.urdf #output of xacro2urdf.bash
│ ├── chessaton.urdf.xacro #main urdf file
│ └── sensors
│ ├── camera_gazebo.xacro
│ └── camera.urdf.xacro
└── world
└── chessaton.world #empty world with robotic armros2 launch chess_description view.launch.pyros2 launch chess_description view_gz.launch.pyafter modifying chessaton.urdf.xacro run these two scripts:
you can also choose the controller type to use inside these scripts.
chessaton_description/scripts/xacro2urdf.bash
chessaton_description/scripts/xacro2sdf.bash