h12_ros2_model

ROS2 package of h12 robot description.

File

• Robot description files are located under assets/ directory.
• assets/h1_2/h1_2.urdf contains description with relative mesh path, suitable for libraries like Pinocchio.
• assets/h1_2/h1_2_ros.urdf contains description with package mesh path, suitable for ROS integration.

Dependencies

• This package depends on robot_description_publisher, joint_state_publisher and joint_state_publisher_gui

• Taking ros2 humble as an example, you can install these dependencies by:

  sudo apt install ros-humble-robot-state-publisher
  sudo apt install ros-humble-joint-state-publisher
  sudo apt install ros-humble-joint-state-publisher-gui

Usage

• Building this package in your workscape and all the assets will be available at run time.

  from ament_index_python.packages import get_package_share_directory
  
  package_path = get_package_share_directory('h12_ros2_model')
  print(f'Asset file: {package_path}/assets/{asset_file}')

• Running ros2 launch h12_ros2_model robot_description_launch.py will start the robot_state_publisher node, the joint_state_publisher_gui node and rviz to visualize the robot.

• In rviz, you can view the robot by adding a RobotModel visualization and subscribe to robot_description topic.

• On actual robot, you may want to implement your own joint state publisher to track the real joint positions.