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Package Summary
URDF Description package for Leo Rover
- Maintainer status: maintained
- Maintainer: Fictionlab <support AT fictionlab DOT pl>
- Author: Błażej Sowa <blazej AT fictionlab DOT pl>
- License: MIT
- Bug / feature tracker: https://github.com/LeoRover/leo_common/issues
- Source: git https://github.com/LeoRover/leo_common.git (branch: master)
Package Summary
URDF Description package for Leo Rover
- Maintainer status: maintained
- Maintainer: Fictionlab <support AT fictionlab DOT pl>
- Author: Błażej Sowa <blazej AT fictionlab DOT pl>
- License: MIT
- Bug / feature tracker: https://github.com/LeoRover/leo_common/issues
- Source: git https://github.com/LeoRover/leo_common.git (branch: melodic)
Package Summary
URDF Description package for Leo Rover
- Maintainer status: maintained
- Maintainer: Fictionlab <support AT fictionlab DOT pl>
- Author: Błażej Sowa <blazej AT fictionlab DOT pl>
- License: MIT
- Bug / feature tracker: https://github.com/LeoRover/leo_common/issues
- Source: git https://github.com/LeoRover/leo_common.git (branch: master)
Contents
Overview
This package provides a URDF model of Leo Rover in xacro format. 
Here's a graphical representation of the description (click to see the PDF version): 
Coordinate frames
- base_link
- Rigidly attached to the robot base. Provides an obvious point of reference for other links in the model. Located on the upper plane of the robot, in the central mounting hole, with the X axis facing forward like in the picture below:
Because it lies so close to the rocker axis, it is assumed to be the center of rotation in differential driving.
- base_footprint
The root link of the robot. Projection of the base_link frame into the ground (assuming the ground is flat).
- camera_frame
- Attached to the camera sensor. Represents the viewport of the camera and allows to express relative pose in the standard convention.
- camera_optical_frame
The "optical" frame of the camera. Located at the same position as the camera_frame, but uses a slightly different convention for the axis orientation (see REP 103).
Usage
The package does not provide any functionality on its own. Rather, it is used by a variety of other components.
For example, if you want to visualize the model in RViz, see the leo_viz package.