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URDF-models

This package contains the URDF files for the robot model. The URDF files define the robot's physical structure, including links and joints.

Foxglove Studio

In order for Foxglove studio to recognise the meshes the foxglove bridge needs be run in a terminal where this package is sourced. If that doesn't work, you need to set the ROS_PACKAGE_PATH to include this workspace's install folder. This can be done by running the following command in the terminal where you launch Foxglove Studio:

export ROS_PACKAGE_PATH=/absolute/path/to/this/workspace/install

or by adding it to your .bashrc file:

echo "export ROS_PACKAGE_PATH=/absolute/path/to/this/workspace/install" >> ~/.bashrc

This will make the installed packages in this workspace available to all terminals.

If that doesn't work either, you can add the path to the ROS_PACKAGE_PATH in the Foxglove Studio settings. (Click your profile icon in the top right corner, then click settings)

Freya URDF

The Freya URDF was generated from the a CAD file using Solidworks. These tutorials were useful: