hydra_description package

This ROS package provides URDF files and meshes for the Hydra multi-robot system. See this repository's branches for different variants of the multi robot system configuration.

Note

master variant:

The master branch contains the default setup: Three robots space evenly around a 1-DOF positioner table.

Installation

First, create a catkin workspace.

mkdir -p catkin_ws/src && cd catkin_ws/src

Dependencies

The multi-robot description depends on the mesh files provided by the za_description package. Install this package locally or, alternatively, clone it as a submodule in za_ros package.

For za_description local installation:

git clone git@github.com:alexarbogast/za_description.git

Building the package

Clone the contents of this repository and checkout the desired branch.

git clone git@github.com:alexarbogast/hydra_description.git
git checkout <branch>

Build the ROS packages.

cd ../
catkin build

Resources

• http://wiki.ros.org/xacro
• http://wiki.ros.org/urdf