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
Hitbot	Z-EFG-100	Yes
Eincinx	EPGI180	Yes
Marvin	marvin_gripper marvin_gripper45	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 RH56F2	Yes
OyMotion	RoHand Gen2	Yes
FreeDom	V1 V2	Yes
TheoHand	STD16A	Yes
Wuji	Hand2 Beta2	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/
│   ├── freedom_description/
│   ├── linkerhand_description/
│   ├── oymotion_description/
│   ├── theohand_description/
│   ├── wuji_description/
│   └── xhand1_description/
├── gripper/               # Gripper descriptions
│   ├── changingtek_description/
│   ├── dh_description/
│   ├── inspire_description/
│   ├── jodell_description/
│   ├── hitbot_description/
│   ├── eincinx_description/
│   ├── marvin_gripper_description/
│   └── robotiq_description/
└── robot_common_launch/   # Common launch files and utilities
    ├── config/           # Configuration files (RViz, Nav2, etc.)
    ├── launch/           # Launch files
    └── worlds/           # Simulation world files