CaBot Description

Package	Description
cabot_description	robot URDF description

Requirements for CaBot

• To deal with a footprint that includes the robot and the user, CaBot has a unique TF tree
• TF Frames
  • odom
  • base_footprint (param name: base_frame)
  • base_control_shift (param name: offset_frame)
• Adjustable Joint (from base_footprint to base_control_shift) for left handed configuration
  • base_joint (param name: TBD, not configurable now)
    • type="prismatic"
  • lower="0"
  • upper="0.25"

License

MIT License

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The following files/folder are under Apache-2.0 License

• cabot_description/urdf/sensors/_d435.gazebo.xacro
• cabot_description/urdf/sensors/_d435.urdf.xacro