Robot Descriptions - Common Components

This repository contains shared robot description files including grippers, dexterous hands, sensor models, and common launch utilities for ROS2 robots.

Overview

This is a git submodule of the main robot_descriptions repository, containing commonly used end-effectors and sensors that can be attached to various robot platforms.

Components

Grippers

Located in gripper/ directory:

Brand	Models	Repaint	Images
ChangingTek	AG2F90-C AG2F120S	Yes
DH	PGC_140_50	Yes
Robotiq	2F-85	Yes
Inspire	EG2-4C2	Yes
Jodell	RG75-300	Yes

Each gripper package includes:

• URDF/Xacro files for robot description
• 3D meshes (collision and visual)
• ROS2 Control configurations
• Mounting configurations for various robot arms

Dexterous Hands

Mainly located in dexhands/ directory (Inspire RH56E2 is provided by gripper/inspire_description):

Brand	Model	Repaint	Images
BrainCo	REVO1 REVO2	Yes
LinkerHand	O6 O7 L6 L10	Yes
Inspire	RH56E2	Yes
OyMotion	RoHand Gen2	Yes

Features:

• Full kinematic chain definition
• Support for both left and right hands
• Individual finger joint control
• High-quality visual meshes

Sensor Models

Located in sensor_models/ directory:

Includes URDF descriptions and meshes for:

• Intel RealSense D405
• Intel RealSense D435
• Orbbec Dabai
• Livox Mid-360

These sensor models can be easily integrated into robot descriptions for simulation and visualization.

Common Launch Files

Located in robot_common_launch/ directory:

A collection of reusable launch files and utilities:

Visualization

• visualize/gripper.launch.py - Launch gripper visualization
• visualize/hand.launch.py - Launch dexterous hand visualization
• visualize/manipulator.launch.py - Launch manipulator visualization
• visualize/humanoid.launch.py - Launch humanoid robot visualization

Control

• control/controller_manager.launch.py - Launch ROS2 controller manager
• control/diff_drive.launch.py - Launch differential drive controller
• control/hardware_visualize.launch.py - Launch hardware visualization

Manipulation

• manipulation/manipulator_ocs2.launch.py - Launch OCS2 MPC for manipulators

Navigation

• navigation/navigation.launch.py - Launch Nav2 stack
• navigation/cartographer.launch.py - Launch Cartographer SLAM
• navigation/navigation_slam.launch.py - Launch Nav2 with SLAM
• navigation/amr_rctk.launch.py - Launch AMR RCTK navigation

Also includes:

• RViz configuration files
• Navigation parameter files (Nav2, SLAM Toolbox, Cartographer)
• Gazebo bridge configurations
• Simulation world files

Usage

As Part of Robot Description

To use these components in your robot description, you can include them using xacro:

<!-- Example: Adding a gripper to your robot -->
<xacro:include filename="$(find robotiq_description)/xacro/gripper.xacro"/>

<xacro:robotiq_gripper 
  parent="arm_link_6" 
  name="gripper">
  <origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:robotiq_gripper>

Using Common Launch Files

# Visualize a gripper
ros2 launch robot_common_launch gripper.launch.py

# Launch manipulator with OCS2 MPC
ros2 launch robot_common_launch manipulator_ocs2.launch.py

# Start navigation with SLAM
ros2 launch robot_common_launch navigation_slam.launch.py

Package Structure

common/
├── sensor_models/          # Sensor URDF models
├── dexhands/              # Dexterous hand descriptions
│   ├── brainco_description/
│   ├── linkerhand_description/
│   └── oymotion_description/
├── gripper/               # Gripper descriptions
│   ├── changingtek_description/
│   ├── dh_description/
│   ├── inspire_description/
│   ├── jodell_description/
│   └── robotiq_description/
└── robot_common_launch/   # Common launch files and utilities
    ├── config/           # Configuration files (RViz, Nav2, etc.)
    ├── launch/           # Launch files
    └── worlds/           # Simulation world files