Anki Vector and Cozmo

Universal Robot Description Files

To switch between Cozmo and Anki models change robot_type argument to:

• vector or
• cozmo

Models

• different meshes for Vector and Cozmo
• common base kinematics xacro
• robot type specific camera and drop sensor xacros
• standard gazebo plugins:
  • IMU: libgazebo_ros_imu_sensor
  • Camera: libgazebo_ros_camera
  • Kinematics: libgazebo_ros_skid_steer_drive
  • Cliff sensor: libgazebo_ros_range ( 1 for Cozmo 4 for Vector)
  • NIR-TOF: libgazebo_ros_range (Vector only)