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nasa-urdf-robots

Pre-built URDF files from the open source Robonaut 2 and Valkyrie projects from JSC for easy use without needing to install the ROS platform. The derivative URDF model files provided in this repo are covered under the same license as their original sources.

View the models!

Source Repositories

nasa-jsc-robotics/val_description

nasa-jsc-robotics/r2_description

Build Instructions

r2_description

1. Download the repository
2. Create a urdf directory in the root of the repo
3. Run bash ./convert-xacro.sh ./robots ./urdf
4. URDF files are in ./urdf!

val_description

1. Initialize a catkin workspace by running
   • mkdir -p ./catkin_ws/src
   • cd catkin_ws
   • catkin_make
2. Download the val_description repository
3. Unpack the contents into catkin_ws/src/val_description
4. Comment out the following lines in the catkin_ws/src/val_description/CMakeLists.txt file
   • catkin_python_setup()
   • catkin_add_nosetests(test)
5. Run catkin_make install
6. URDF files are in catkin_ws/devel/share/val_description/model/urdf

Modifications

• Converted R2 and Valkyrie xacro files to urdf using ROS Indigo.

License

NASA-1.3