URDF_Robodog

This package provides the URDF (Unified Robot Description Format) model for the Robodog robot, including all necessary files to visualize and simulate the robot in ROS 2 using RViz.

Features

• Complete URDF and Xacro description of the Robodog robot
• Launch files for easy visualization in RViz
• Example RViz configuration for convenient robot viewing

Installation

Clone this repository into your ROS 2 workspace's src directory:

cd ~/ros2_ws/src
git clone https://github.com/wggRobotic/URDF_Robodog urdf_robodog

Install dependencies and build the workspace:

cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash

Usage

To visualize the Robodog model in Rviz, use the provided launch file:

ros2 launch urdf_robodog display.launch.py

This will start RViz with the Robodog model loaded and ready for inspection.

File Structure

• urdf/ — Contains the URDF and Xacro files describing the robot
• launch/ — Launch files for visualization
• rviz/ — Example RViz configuration

Dependencies

• ROS 2 (tested with Humble and newer)
• urdf_launch package