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elite_robots_description repository

elite_robots_description

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Description.git
VCS Type git
VCS Version humble
Last Updated 2026-08-28
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
elite_robots_description 1.0.0

README

Elite Robots CS ROS 2 Description

English 中文

This repository provides the ROS 2 description package for Elite Robots CS and LS series robots. The package is named elite_robots_description and includes Xacro/URDF models, joint limits, kinematic and physical parameters, visual and collision meshes, and a launch file for viewing the robots in RViz2.

Supported Robots

Series Models
CS cs63, cs66, cs66a, cs68, cs612, cs616, cs618f, cs620, cs625, cs520h
LS ls65

The cs520h is a five-axis model. The launch file automatically selects its description from the urdf_5f directory.

Requirements

  • ROS 2
  • colcon
  • rosdep
  • RViz2, Xacro, Robot State Publisher, and Joint State Publisher GUI

Use rosdep to install the dependencies declared in package.xml.

Installation and Build

Clone this repository into the src directory of a ROS 2 workspace:

mkdir -p ~/elite_ros_ws/src
cd ~/elite_ros_ws/src
git clone <repository-url> Elite_Robots_CS_ROS2_Description

cd ~/elite_ros_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select elite_robots_description
source install/setup.bash

If the repository is already in a workspace, run the final three commands from the workspace root.

View a Robot in RViz2

The cs_type argument is required. For example, to view a CS63:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs63

Replace the model argument to view another supported robot:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs620
ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs520h

After launching, use the Joint State Publisher GUI to adjust the joint positions and inspect the model and TF tree in RViz2.

Common Launch Arguments

Argument Default Description
cs_type None Robot model; required
safety_limits true Enables safety soft limits
safety_pos_margin 0.15 Safety margin from the lower and upper joint limits
safety_k_position 20 Position gain used by the safety controller
tf_prefix Empty Prefix for TF frames and joint names in multi-robot setups
description_package elite_robots_description ROS 2 package containing the description
description_file cs.urdf.xacro Description file to load

For example, to use a TF prefix and disable safety soft limits:

ros2 launch elite_robots_description view_cs.launch.py \
  cs_type:=cs66 \
  tf_prefix:=robot1_ \
  safety_limits:=false

Generate a URDF

After building and sourcing the workspace, expand the Xacro file directly:

xacro "$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf/cs.urdf.xacro" \
  cs_type:=cs63 \
  name:=cs63 \
  > /tmp/cs63.urdf

Use the five-axis entry point for cs520h:

```bash xacro “$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf_5f/cs.urdf.xacro” \

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

elite_robots_description repository

elite_robots_description

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Description.git
VCS Type git
VCS Version humble
Last Updated 2026-08-28
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
elite_robots_description 1.0.0

README

Elite Robots CS ROS 2 Description

English 中文

This repository provides the ROS 2 description package for Elite Robots CS and LS series robots. The package is named elite_robots_description and includes Xacro/URDF models, joint limits, kinematic and physical parameters, visual and collision meshes, and a launch file for viewing the robots in RViz2.

Supported Robots

Series Models
CS cs63, cs66, cs66a, cs68, cs612, cs616, cs618f, cs620, cs625, cs520h
LS ls65

The cs520h is a five-axis model. The launch file automatically selects its description from the urdf_5f directory.

Requirements

  • ROS 2
  • colcon
  • rosdep
  • RViz2, Xacro, Robot State Publisher, and Joint State Publisher GUI

Use rosdep to install the dependencies declared in package.xml.

Installation and Build

Clone this repository into the src directory of a ROS 2 workspace:

mkdir -p ~/elite_ros_ws/src
cd ~/elite_ros_ws/src
git clone <repository-url> Elite_Robots_CS_ROS2_Description

cd ~/elite_ros_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select elite_robots_description
source install/setup.bash

If the repository is already in a workspace, run the final three commands from the workspace root.

View a Robot in RViz2

The cs_type argument is required. For example, to view a CS63:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs63

Replace the model argument to view another supported robot:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs620
ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs520h

After launching, use the Joint State Publisher GUI to adjust the joint positions and inspect the model and TF tree in RViz2.

Common Launch Arguments

Argument Default Description
cs_type None Robot model; required
safety_limits true Enables safety soft limits
safety_pos_margin 0.15 Safety margin from the lower and upper joint limits
safety_k_position 20 Position gain used by the safety controller
tf_prefix Empty Prefix for TF frames and joint names in multi-robot setups
description_package elite_robots_description ROS 2 package containing the description
description_file cs.urdf.xacro Description file to load

For example, to use a TF prefix and disable safety soft limits:

ros2 launch elite_robots_description view_cs.launch.py \
  cs_type:=cs66 \
  tf_prefix:=robot1_ \
  safety_limits:=false

Generate a URDF

After building and sourcing the workspace, expand the Xacro file directly:

xacro "$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf/cs.urdf.xacro" \
  cs_type:=cs63 \
  name:=cs63 \
  > /tmp/cs63.urdf

Use the five-axis entry point for cs520h:

```bash xacro “$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf_5f/cs.urdf.xacro” \

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

elite_robots_description repository

elite_robots_description

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Description.git
VCS Type git
VCS Version humble
Last Updated 2026-08-28
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
elite_robots_description 1.0.0

README

Elite Robots CS ROS 2 Description

English 中文

This repository provides the ROS 2 description package for Elite Robots CS and LS series robots. The package is named elite_robots_description and includes Xacro/URDF models, joint limits, kinematic and physical parameters, visual and collision meshes, and a launch file for viewing the robots in RViz2.

Supported Robots

Series Models
CS cs63, cs66, cs66a, cs68, cs612, cs616, cs618f, cs620, cs625, cs520h
LS ls65

The cs520h is a five-axis model. The launch file automatically selects its description from the urdf_5f directory.

Requirements

  • ROS 2
  • colcon
  • rosdep
  • RViz2, Xacro, Robot State Publisher, and Joint State Publisher GUI

Use rosdep to install the dependencies declared in package.xml.

Installation and Build

Clone this repository into the src directory of a ROS 2 workspace:

mkdir -p ~/elite_ros_ws/src
cd ~/elite_ros_ws/src
git clone <repository-url> Elite_Robots_CS_ROS2_Description

cd ~/elite_ros_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select elite_robots_description
source install/setup.bash

If the repository is already in a workspace, run the final three commands from the workspace root.

View a Robot in RViz2

The cs_type argument is required. For example, to view a CS63:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs63

Replace the model argument to view another supported robot:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs620
ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs520h

After launching, use the Joint State Publisher GUI to adjust the joint positions and inspect the model and TF tree in RViz2.

Common Launch Arguments

Argument Default Description
cs_type None Robot model; required
safety_limits true Enables safety soft limits
safety_pos_margin 0.15 Safety margin from the lower and upper joint limits
safety_k_position 20 Position gain used by the safety controller
tf_prefix Empty Prefix for TF frames and joint names in multi-robot setups
description_package elite_robots_description ROS 2 package containing the description
description_file cs.urdf.xacro Description file to load

For example, to use a TF prefix and disable safety soft limits:

ros2 launch elite_robots_description view_cs.launch.py \
  cs_type:=cs66 \
  tf_prefix:=robot1_ \
  safety_limits:=false

Generate a URDF

After building and sourcing the workspace, expand the Xacro file directly:

xacro "$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf/cs.urdf.xacro" \
  cs_type:=cs63 \
  name:=cs63 \
  > /tmp/cs63.urdf

Use the five-axis entry point for cs520h:

```bash xacro “$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf_5f/cs.urdf.xacro” \

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro lyrical showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

elite_robots_description repository

elite_robots_description

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Description.git
VCS Type git
VCS Version humble
Last Updated 2026-08-28
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
elite_robots_description 1.0.0

README

Elite Robots CS ROS 2 Description

English 中文

This repository provides the ROS 2 description package for Elite Robots CS and LS series robots. The package is named elite_robots_description and includes Xacro/URDF models, joint limits, kinematic and physical parameters, visual and collision meshes, and a launch file for viewing the robots in RViz2.

Supported Robots

Series Models
CS cs63, cs66, cs66a, cs68, cs612, cs616, cs618f, cs620, cs625, cs520h
LS ls65

The cs520h is a five-axis model. The launch file automatically selects its description from the urdf_5f directory.

Requirements

  • ROS 2
  • colcon
  • rosdep
  • RViz2, Xacro, Robot State Publisher, and Joint State Publisher GUI

Use rosdep to install the dependencies declared in package.xml.

Installation and Build

Clone this repository into the src directory of a ROS 2 workspace:

mkdir -p ~/elite_ros_ws/src
cd ~/elite_ros_ws/src
git clone <repository-url> Elite_Robots_CS_ROS2_Description

cd ~/elite_ros_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select elite_robots_description
source install/setup.bash

If the repository is already in a workspace, run the final three commands from the workspace root.

View a Robot in RViz2

The cs_type argument is required. For example, to view a CS63:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs63

Replace the model argument to view another supported robot:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs620
ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs520h

After launching, use the Joint State Publisher GUI to adjust the joint positions and inspect the model and TF tree in RViz2.

Common Launch Arguments

Argument Default Description
cs_type None Robot model; required
safety_limits true Enables safety soft limits
safety_pos_margin 0.15 Safety margin from the lower and upper joint limits
safety_k_position 20 Position gain used by the safety controller
tf_prefix Empty Prefix for TF frames and joint names in multi-robot setups
description_package elite_robots_description ROS 2 package containing the description
description_file cs.urdf.xacro Description file to load

For example, to use a TF prefix and disable safety soft limits:

ros2 launch elite_robots_description view_cs.launch.py \
  cs_type:=cs66 \
  tf_prefix:=robot1_ \
  safety_limits:=false

Generate a URDF

After building and sourcing the workspace, expand the Xacro file directly:

xacro "$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf/cs.urdf.xacro" \
  cs_type:=cs63 \
  name:=cs63 \
  > /tmp/cs63.urdf

Use the five-axis entry point for cs520h:

```bash xacro “$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf_5f/cs.urdf.xacro” \

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

elite_robots_description repository

elite_robots_description

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Description.git
VCS Type git
VCS Version humble
Last Updated 2026-08-28
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
elite_robots_description 1.0.0

README

Elite Robots CS ROS 2 Description

English 中文

This repository provides the ROS 2 description package for Elite Robots CS and LS series robots. The package is named elite_robots_description and includes Xacro/URDF models, joint limits, kinematic and physical parameters, visual and collision meshes, and a launch file for viewing the robots in RViz2.

Supported Robots

Series Models
CS cs63, cs66, cs66a, cs68, cs612, cs616, cs618f, cs620, cs625, cs520h
LS ls65

The cs520h is a five-axis model. The launch file automatically selects its description from the urdf_5f directory.

Requirements

  • ROS 2
  • colcon
  • rosdep
  • RViz2, Xacro, Robot State Publisher, and Joint State Publisher GUI

Use rosdep to install the dependencies declared in package.xml.

Installation and Build

Clone this repository into the src directory of a ROS 2 workspace:

mkdir -p ~/elite_ros_ws/src
cd ~/elite_ros_ws/src
git clone <repository-url> Elite_Robots_CS_ROS2_Description

cd ~/elite_ros_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select elite_robots_description
source install/setup.bash

If the repository is already in a workspace, run the final three commands from the workspace root.

View a Robot in RViz2

The cs_type argument is required. For example, to view a CS63:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs63

Replace the model argument to view another supported robot:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs620
ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs520h

After launching, use the Joint State Publisher GUI to adjust the joint positions and inspect the model and TF tree in RViz2.

Common Launch Arguments

Argument Default Description
cs_type None Robot model; required
safety_limits true Enables safety soft limits
safety_pos_margin 0.15 Safety margin from the lower and upper joint limits
safety_k_position 20 Position gain used by the safety controller
tf_prefix Empty Prefix for TF frames and joint names in multi-robot setups
description_package elite_robots_description ROS 2 package containing the description
description_file cs.urdf.xacro Description file to load

For example, to use a TF prefix and disable safety soft limits:

ros2 launch elite_robots_description view_cs.launch.py \
  cs_type:=cs66 \
  tf_prefix:=robot1_ \
  safety_limits:=false

Generate a URDF

After building and sourcing the workspace, expand the Xacro file directly:

xacro "$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf/cs.urdf.xacro" \
  cs_type:=cs63 \
  name:=cs63 \
  > /tmp/cs63.urdf

Use the five-axis entry point for cs520h:

```bash xacro “$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf_5f/cs.urdf.xacro” \

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro github showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

elite_robots_description repository

elite_robots_description

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Description.git
VCS Type git
VCS Version humble
Last Updated 2026-08-28
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
elite_robots_description 1.0.0

README

Elite Robots CS ROS 2 Description

English 中文

This repository provides the ROS 2 description package for Elite Robots CS and LS series robots. The package is named elite_robots_description and includes Xacro/URDF models, joint limits, kinematic and physical parameters, visual and collision meshes, and a launch file for viewing the robots in RViz2.

Supported Robots

Series Models
CS cs63, cs66, cs66a, cs68, cs612, cs616, cs618f, cs620, cs625, cs520h
LS ls65

The cs520h is a five-axis model. The launch file automatically selects its description from the urdf_5f directory.

Requirements

  • ROS 2
  • colcon
  • rosdep
  • RViz2, Xacro, Robot State Publisher, and Joint State Publisher GUI

Use rosdep to install the dependencies declared in package.xml.

Installation and Build

Clone this repository into the src directory of a ROS 2 workspace:

mkdir -p ~/elite_ros_ws/src
cd ~/elite_ros_ws/src
git clone <repository-url> Elite_Robots_CS_ROS2_Description

cd ~/elite_ros_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select elite_robots_description
source install/setup.bash

If the repository is already in a workspace, run the final three commands from the workspace root.

View a Robot in RViz2

The cs_type argument is required. For example, to view a CS63:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs63

Replace the model argument to view another supported robot:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs620
ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs520h

After launching, use the Joint State Publisher GUI to adjust the joint positions and inspect the model and TF tree in RViz2.

Common Launch Arguments

Argument Default Description
cs_type None Robot model; required
safety_limits true Enables safety soft limits
safety_pos_margin 0.15 Safety margin from the lower and upper joint limits
safety_k_position 20 Position gain used by the safety controller
tf_prefix Empty Prefix for TF frames and joint names in multi-robot setups
description_package elite_robots_description ROS 2 package containing the description
description_file cs.urdf.xacro Description file to load

For example, to use a TF prefix and disable safety soft limits:

ros2 launch elite_robots_description view_cs.launch.py \
  cs_type:=cs66 \
  tf_prefix:=robot1_ \
  safety_limits:=false

Generate a URDF

After building and sourcing the workspace, expand the Xacro file directly:

xacro "$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf/cs.urdf.xacro" \
  cs_type:=cs63 \
  name:=cs63 \
  > /tmp/cs63.urdf

Use the five-axis entry point for cs520h:

```bash xacro “$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf_5f/cs.urdf.xacro” \

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

elite_robots_description repository

elite_robots_description

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Description.git
VCS Type git
VCS Version humble
Last Updated 2026-08-28
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
elite_robots_description 1.0.0

README

Elite Robots CS ROS 2 Description

English 中文

This repository provides the ROS 2 description package for Elite Robots CS and LS series robots. The package is named elite_robots_description and includes Xacro/URDF models, joint limits, kinematic and physical parameters, visual and collision meshes, and a launch file for viewing the robots in RViz2.

Supported Robots

Series Models
CS cs63, cs66, cs66a, cs68, cs612, cs616, cs618f, cs620, cs625, cs520h
LS ls65

The cs520h is a five-axis model. The launch file automatically selects its description from the urdf_5f directory.

Requirements

  • ROS 2
  • colcon
  • rosdep
  • RViz2, Xacro, Robot State Publisher, and Joint State Publisher GUI

Use rosdep to install the dependencies declared in package.xml.

Installation and Build

Clone this repository into the src directory of a ROS 2 workspace:

mkdir -p ~/elite_ros_ws/src
cd ~/elite_ros_ws/src
git clone <repository-url> Elite_Robots_CS_ROS2_Description

cd ~/elite_ros_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select elite_robots_description
source install/setup.bash

If the repository is already in a workspace, run the final three commands from the workspace root.

View a Robot in RViz2

The cs_type argument is required. For example, to view a CS63:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs63

Replace the model argument to view another supported robot:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs620
ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs520h

After launching, use the Joint State Publisher GUI to adjust the joint positions and inspect the model and TF tree in RViz2.

Common Launch Arguments

Argument Default Description
cs_type None Robot model; required
safety_limits true Enables safety soft limits
safety_pos_margin 0.15 Safety margin from the lower and upper joint limits
safety_k_position 20 Position gain used by the safety controller
tf_prefix Empty Prefix for TF frames and joint names in multi-robot setups
description_package elite_robots_description ROS 2 package containing the description
description_file cs.urdf.xacro Description file to load

For example, to use a TF prefix and disable safety soft limits:

ros2 launch elite_robots_description view_cs.launch.py \
  cs_type:=cs66 \
  tf_prefix:=robot1_ \
  safety_limits:=false

Generate a URDF

After building and sourcing the workspace, expand the Xacro file directly:

xacro "$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf/cs.urdf.xacro" \
  cs_type:=cs63 \
  name:=cs63 \
  > /tmp/cs63.urdf

Use the five-axis entry point for cs520h:

```bash xacro “$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf_5f/cs.urdf.xacro” \

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

elite_robots_description repository

elite_robots_description

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Description.git
VCS Type git
VCS Version humble
Last Updated 2026-08-28
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
elite_robots_description 1.0.0

README

Elite Robots CS ROS 2 Description

English 中文

This repository provides the ROS 2 description package for Elite Robots CS and LS series robots. The package is named elite_robots_description and includes Xacro/URDF models, joint limits, kinematic and physical parameters, visual and collision meshes, and a launch file for viewing the robots in RViz2.

Supported Robots

Series Models
CS cs63, cs66, cs66a, cs68, cs612, cs616, cs618f, cs620, cs625, cs520h
LS ls65

The cs520h is a five-axis model. The launch file automatically selects its description from the urdf_5f directory.

Requirements

  • ROS 2
  • colcon
  • rosdep
  • RViz2, Xacro, Robot State Publisher, and Joint State Publisher GUI

Use rosdep to install the dependencies declared in package.xml.

Installation and Build

Clone this repository into the src directory of a ROS 2 workspace:

mkdir -p ~/elite_ros_ws/src
cd ~/elite_ros_ws/src
git clone <repository-url> Elite_Robots_CS_ROS2_Description

cd ~/elite_ros_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select elite_robots_description
source install/setup.bash

If the repository is already in a workspace, run the final three commands from the workspace root.

View a Robot in RViz2

The cs_type argument is required. For example, to view a CS63:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs63

Replace the model argument to view another supported robot:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs620
ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs520h

After launching, use the Joint State Publisher GUI to adjust the joint positions and inspect the model and TF tree in RViz2.

Common Launch Arguments

Argument Default Description
cs_type None Robot model; required
safety_limits true Enables safety soft limits
safety_pos_margin 0.15 Safety margin from the lower and upper joint limits
safety_k_position 20 Position gain used by the safety controller
tf_prefix Empty Prefix for TF frames and joint names in multi-robot setups
description_package elite_robots_description ROS 2 package containing the description
description_file cs.urdf.xacro Description file to load

For example, to use a TF prefix and disable safety soft limits:

ros2 launch elite_robots_description view_cs.launch.py \
  cs_type:=cs66 \
  tf_prefix:=robot1_ \
  safety_limits:=false

Generate a URDF

After building and sourcing the workspace, expand the Xacro file directly:

xacro "$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf/cs.urdf.xacro" \
  cs_type:=cs63 \
  name:=cs63 \
  > /tmp/cs63.urdf

Use the five-axis entry point for cs520h:

```bash xacro “$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf_5f/cs.urdf.xacro” \

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

elite_robots_description repository

elite_robots_description

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Description.git
VCS Type git
VCS Version humble
Last Updated 2026-08-28
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
elite_robots_description 1.0.0

README

Elite Robots CS ROS 2 Description

English 中文

This repository provides the ROS 2 description package for Elite Robots CS and LS series robots. The package is named elite_robots_description and includes Xacro/URDF models, joint limits, kinematic and physical parameters, visual and collision meshes, and a launch file for viewing the robots in RViz2.

Supported Robots

Series Models
CS cs63, cs66, cs66a, cs68, cs612, cs616, cs618f, cs620, cs625, cs520h
LS ls65

The cs520h is a five-axis model. The launch file automatically selects its description from the urdf_5f directory.

Requirements

  • ROS 2
  • colcon
  • rosdep
  • RViz2, Xacro, Robot State Publisher, and Joint State Publisher GUI

Use rosdep to install the dependencies declared in package.xml.

Installation and Build

Clone this repository into the src directory of a ROS 2 workspace:

mkdir -p ~/elite_ros_ws/src
cd ~/elite_ros_ws/src
git clone <repository-url> Elite_Robots_CS_ROS2_Description

cd ~/elite_ros_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select elite_robots_description
source install/setup.bash

If the repository is already in a workspace, run the final three commands from the workspace root.

View a Robot in RViz2

The cs_type argument is required. For example, to view a CS63:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs63

Replace the model argument to view another supported robot:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs620
ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs520h

After launching, use the Joint State Publisher GUI to adjust the joint positions and inspect the model and TF tree in RViz2.

Common Launch Arguments

Argument Default Description
cs_type None Robot model; required
safety_limits true Enables safety soft limits
safety_pos_margin 0.15 Safety margin from the lower and upper joint limits
safety_k_position 20 Position gain used by the safety controller
tf_prefix Empty Prefix for TF frames and joint names in multi-robot setups
description_package elite_robots_description ROS 2 package containing the description
description_file cs.urdf.xacro Description file to load

For example, to use a TF prefix and disable safety soft limits:

ros2 launch elite_robots_description view_cs.launch.py \
  cs_type:=cs66 \
  tf_prefix:=robot1_ \
  safety_limits:=false

Generate a URDF

After building and sourcing the workspace, expand the Xacro file directly:

xacro "$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf/cs.urdf.xacro" \
  cs_type:=cs63 \
  name:=cs63 \
  > /tmp/cs63.urdf

Use the five-axis entry point for cs520h:

```bash xacro “$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf_5f/cs.urdf.xacro” \

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

elite_robots_description repository

elite_robots_description

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Description.git
VCS Type git
VCS Version humble
Last Updated 2026-08-28
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
elite_robots_description 1.0.0

README

Elite Robots CS ROS 2 Description

English 中文

This repository provides the ROS 2 description package for Elite Robots CS and LS series robots. The package is named elite_robots_description and includes Xacro/URDF models, joint limits, kinematic and physical parameters, visual and collision meshes, and a launch file for viewing the robots in RViz2.

Supported Robots

Series Models
CS cs63, cs66, cs66a, cs68, cs612, cs616, cs618f, cs620, cs625, cs520h
LS ls65

The cs520h is a five-axis model. The launch file automatically selects its description from the urdf_5f directory.

Requirements

  • ROS 2
  • colcon
  • rosdep
  • RViz2, Xacro, Robot State Publisher, and Joint State Publisher GUI

Use rosdep to install the dependencies declared in package.xml.

Installation and Build

Clone this repository into the src directory of a ROS 2 workspace:

mkdir -p ~/elite_ros_ws/src
cd ~/elite_ros_ws/src
git clone <repository-url> Elite_Robots_CS_ROS2_Description

cd ~/elite_ros_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select elite_robots_description
source install/setup.bash

If the repository is already in a workspace, run the final three commands from the workspace root.

View a Robot in RViz2

The cs_type argument is required. For example, to view a CS63:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs63

Replace the model argument to view another supported robot:

ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs620
ros2 launch elite_robots_description view_cs.launch.py cs_type:=cs520h

After launching, use the Joint State Publisher GUI to adjust the joint positions and inspect the model and TF tree in RViz2.

Common Launch Arguments

Argument Default Description
cs_type None Robot model; required
safety_limits true Enables safety soft limits
safety_pos_margin 0.15 Safety margin from the lower and upper joint limits
safety_k_position 20 Position gain used by the safety controller
tf_prefix Empty Prefix for TF frames and joint names in multi-robot setups
description_package elite_robots_description ROS 2 package containing the description
description_file cs.urdf.xacro Description file to load

For example, to use a TF prefix and disable safety soft limits:

ros2 launch elite_robots_description view_cs.launch.py \
  cs_type:=cs66 \
  tf_prefix:=robot1_ \
  safety_limits:=false

Generate a URDF

After building and sourcing the workspace, expand the Xacro file directly:

xacro "$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf/cs.urdf.xacro" \
  cs_type:=cs63 \
  name:=cs63 \
  > /tmp/cs63.urdf

Use the five-axis entry point for cs520h:

```bash xacro “$(ros2 pkg prefix elite_robots_description)/share/elite_robots_description/urdf_5f/cs.urdf.xacro” \

File truncated at 100 lines see the full file

CONTRIBUTING