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rm_description package from ros2_rm_robot repo

control_arm_move force_position_control get_arm_state rm_bringup rm_control rm_description rm_doc rm_driver rm_example rm_gazebo rm_install rm_moveit2 rm_63_config rm_65_config rm_75_config rm_eco62_config rm_eco63_config rm_eco65_config rm_gen72_config rm_rx75_config rm_ros_interfaces

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.7.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/realmanrobot/ros2_rm_robot.git
VCS Type git
VCS Version humble
Last Updated 2026-10-30
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

  • ubuntu

Authors

No additional authors.
rm_description/README.md
[简体中文](README_CN.md)|[English](README.md)
# RealMan Robot rm_description User Manual V1.7 RealMan Intelligent Technology (Beijing) Co., Ltd. Revision History: |No. | Date | Comment | | :---: | :----: | :---: | |V1.0 | 2024-2-19 | Draft | |V1.1 | 2024-7-3 | Amend(Add GEN72 adapter files) | |V1.2 | 2024-9-11 | Amend(Add ECO63 adapter files) | |V1.3 | 2024-12-25 | Amend(Add 63, 65, 75, ECO65 six-axis force adapter files and 63, 65, 75, ECO63, ECO65 integrated six-axis force adapter files) | |V1.4 | 2025-4-7 | Amend(Add GEN72_II adapter files) | |V1.5 | 2025-11-13 | Amend(Add RML63_III adapter files) | |V1.6 | 2026-4-16 | Amend(Add ECO62 and RX75 adapter files) | |V1.7 | 2026-8-13 | Amend(Add the unified model-description entry, synchronize URDF/mesh assets, and add model-aware variant defaults) |

Launch examples

After building and sourcing the workspace, display an RM65 model with integrated force sensing:

# Model preview for simulation, generation 3, or older generation 4 software (GUI joint controls)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=true

# Real-robot state display (generation 4 controller software > 1.0.5; start rm_driver first)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=false

Generation 4 controller software 1.0.6 and later names the former 6fb end link 6f. This standalone display does not query controller generation: keep 65-6fb to select the same model. Real-robot display uses joint states from the driver without enabling the GUI joint-state publisher. See the generation-specific model table.

Content

rm_description_Package_Description

rm_description is a function package for displaying the robot model and TF transformation. Through this package, we can realize the linkage effect between a virtual robotic arm in a computer and a real robot arm in reality. In the moveit2 control, we also need the support of this package. This package is introduced in detail in the following aspects.

  • 1.Package use.
  • 2.Package architecture description.
  • 3.Package topic description. Through the introduction of the three parts, it can help you:
  • 1.Understand the package use.
  • 2.Familiar with the file structure and function of the package.
  • 3.Familiar with the topic related to the package for easy development and use. Source code address:https://github.com/RealManRobot/ros2_rm_robot.git.

    rm_description_Package_Use

    Model selection defaults to model:=auto: variants with matching assets use colored DAE, while other variants use STL. Select model:=stl for the original appearance, or model:=dae to require DAE. See the supported arm_type values and MoveIt model selection.

The generic entry is recommended:

ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6f use_joint_state_publisher_gui:=true use_rviz:=true

It explicitly supports the 21 catalogued model/variant combinations. model accepts auto/stl/dae and defaults to auto; forcing dae for a variant without matching assets fails before nodes start. Other common arguments include use_sim_time, joint_states_topic, use_joint_state_bridge, use_joint_state_publisher_gui, and use_rviz. RX75 also accepts left_xyz/left_rpy/right_xyz/right_rpy. Invalid combinations fail before nodes are started. The historical *_display.launch.py commands below are compatibility wrappers and also default to model:=auto. Other original arguments and defaults are retained. Append model:=stl to display the original STL appearance.

Select the model and end-link version directly with arm_type, for example 65-6fb or eco63-6fb. A bare family selects its standard version.

First, after configuring the environment and completing the connection, we can directly start the node and run the rm_description package.

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_display.launch.py

The rm_<arm_type>_display.launch.py pattern applies to 65, 63, 63_III, 75, eco62, eco63, eco65, gen72, and gen72_II.

The command to start the six-axis force version is currently available for 63, 65, 75, and eco65:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6f_display.launch.py

The command to start the integrated six-axis force version is currently available for 63, 63_III, 65, 75, eco63, eco65, and rx75:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6fb_display.launch.py

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rm_description at Robotics Stack Exchange

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

rm_description package from ros2_rm_robot repo

control_arm_move force_position_control get_arm_state rm_bringup rm_control rm_description rm_doc rm_driver rm_example rm_gazebo rm_install rm_moveit2 rm_63_config rm_65_config rm_75_config rm_eco62_config rm_eco63_config rm_eco65_config rm_gen72_config rm_rx75_config rm_ros_interfaces

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.7.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/realmanrobot/ros2_rm_robot.git
VCS Type git
VCS Version humble
Last Updated 2026-10-30
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

  • ubuntu

Authors

No additional authors.
rm_description/README.md
[简体中文](README_CN.md)|[English](README.md)
# RealMan Robot rm_description User Manual V1.7 RealMan Intelligent Technology (Beijing) Co., Ltd. Revision History: |No. | Date | Comment | | :---: | :----: | :---: | |V1.0 | 2024-2-19 | Draft | |V1.1 | 2024-7-3 | Amend(Add GEN72 adapter files) | |V1.2 | 2024-9-11 | Amend(Add ECO63 adapter files) | |V1.3 | 2024-12-25 | Amend(Add 63, 65, 75, ECO65 six-axis force adapter files and 63, 65, 75, ECO63, ECO65 integrated six-axis force adapter files) | |V1.4 | 2025-4-7 | Amend(Add GEN72_II adapter files) | |V1.5 | 2025-11-13 | Amend(Add RML63_III adapter files) | |V1.6 | 2026-4-16 | Amend(Add ECO62 and RX75 adapter files) | |V1.7 | 2026-8-13 | Amend(Add the unified model-description entry, synchronize URDF/mesh assets, and add model-aware variant defaults) |

Launch examples

After building and sourcing the workspace, display an RM65 model with integrated force sensing:

# Model preview for simulation, generation 3, or older generation 4 software (GUI joint controls)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=true

# Real-robot state display (generation 4 controller software > 1.0.5; start rm_driver first)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=false

Generation 4 controller software 1.0.6 and later names the former 6fb end link 6f. This standalone display does not query controller generation: keep 65-6fb to select the same model. Real-robot display uses joint states from the driver without enabling the GUI joint-state publisher. See the generation-specific model table.

Content

rm_description_Package_Description

rm_description is a function package for displaying the robot model and TF transformation. Through this package, we can realize the linkage effect between a virtual robotic arm in a computer and a real robot arm in reality. In the moveit2 control, we also need the support of this package. This package is introduced in detail in the following aspects.

  • 1.Package use.
  • 2.Package architecture description.
  • 3.Package topic description. Through the introduction of the three parts, it can help you:
  • 1.Understand the package use.
  • 2.Familiar with the file structure and function of the package.
  • 3.Familiar with the topic related to the package for easy development and use. Source code address:https://github.com/RealManRobot/ros2_rm_robot.git.

    rm_description_Package_Use

    Model selection defaults to model:=auto: variants with matching assets use colored DAE, while other variants use STL. Select model:=stl for the original appearance, or model:=dae to require DAE. See the supported arm_type values and MoveIt model selection.

The generic entry is recommended:

ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6f use_joint_state_publisher_gui:=true use_rviz:=true

It explicitly supports the 21 catalogued model/variant combinations. model accepts auto/stl/dae and defaults to auto; forcing dae for a variant without matching assets fails before nodes start. Other common arguments include use_sim_time, joint_states_topic, use_joint_state_bridge, use_joint_state_publisher_gui, and use_rviz. RX75 also accepts left_xyz/left_rpy/right_xyz/right_rpy. Invalid combinations fail before nodes are started. The historical *_display.launch.py commands below are compatibility wrappers and also default to model:=auto. Other original arguments and defaults are retained. Append model:=stl to display the original STL appearance.

Select the model and end-link version directly with arm_type, for example 65-6fb or eco63-6fb. A bare family selects its standard version.

First, after configuring the environment and completing the connection, we can directly start the node and run the rm_description package.

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_display.launch.py

The rm_<arm_type>_display.launch.py pattern applies to 65, 63, 63_III, 75, eco62, eco63, eco65, gen72, and gen72_II.

The command to start the six-axis force version is currently available for 63, 65, 75, and eco65:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6f_display.launch.py

The command to start the integrated six-axis force version is currently available for 63, 63_III, 65, 75, eco63, eco65, and rx75:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6fb_display.launch.py

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rm_description at Robotics Stack Exchange

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

rm_description package from ros2_rm_robot repo

control_arm_move force_position_control get_arm_state rm_bringup rm_control rm_description rm_doc rm_driver rm_example rm_gazebo rm_install rm_moveit2 rm_63_config rm_65_config rm_75_config rm_eco62_config rm_eco63_config rm_eco65_config rm_gen72_config rm_rx75_config rm_ros_interfaces

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.7.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/realmanrobot/ros2_rm_robot.git
VCS Type git
VCS Version humble
Last Updated 2026-10-30
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

  • ubuntu

Authors

No additional authors.
rm_description/README.md
[简体中文](README_CN.md)|[English](README.md)
# RealMan Robot rm_description User Manual V1.7 RealMan Intelligent Technology (Beijing) Co., Ltd. Revision History: |No. | Date | Comment | | :---: | :----: | :---: | |V1.0 | 2024-2-19 | Draft | |V1.1 | 2024-7-3 | Amend(Add GEN72 adapter files) | |V1.2 | 2024-9-11 | Amend(Add ECO63 adapter files) | |V1.3 | 2024-12-25 | Amend(Add 63, 65, 75, ECO65 six-axis force adapter files and 63, 65, 75, ECO63, ECO65 integrated six-axis force adapter files) | |V1.4 | 2025-4-7 | Amend(Add GEN72_II adapter files) | |V1.5 | 2025-11-13 | Amend(Add RML63_III adapter files) | |V1.6 | 2026-4-16 | Amend(Add ECO62 and RX75 adapter files) | |V1.7 | 2026-8-13 | Amend(Add the unified model-description entry, synchronize URDF/mesh assets, and add model-aware variant defaults) |

Launch examples

After building and sourcing the workspace, display an RM65 model with integrated force sensing:

# Model preview for simulation, generation 3, or older generation 4 software (GUI joint controls)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=true

# Real-robot state display (generation 4 controller software > 1.0.5; start rm_driver first)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=false

Generation 4 controller software 1.0.6 and later names the former 6fb end link 6f. This standalone display does not query controller generation: keep 65-6fb to select the same model. Real-robot display uses joint states from the driver without enabling the GUI joint-state publisher. See the generation-specific model table.

Content

rm_description_Package_Description

rm_description is a function package for displaying the robot model and TF transformation. Through this package, we can realize the linkage effect between a virtual robotic arm in a computer and a real robot arm in reality. In the moveit2 control, we also need the support of this package. This package is introduced in detail in the following aspects.

  • 1.Package use.
  • 2.Package architecture description.
  • 3.Package topic description. Through the introduction of the three parts, it can help you:
  • 1.Understand the package use.
  • 2.Familiar with the file structure and function of the package.
  • 3.Familiar with the topic related to the package for easy development and use. Source code address:https://github.com/RealManRobot/ros2_rm_robot.git.

    rm_description_Package_Use

    Model selection defaults to model:=auto: variants with matching assets use colored DAE, while other variants use STL. Select model:=stl for the original appearance, or model:=dae to require DAE. See the supported arm_type values and MoveIt model selection.

The generic entry is recommended:

ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6f use_joint_state_publisher_gui:=true use_rviz:=true

It explicitly supports the 21 catalogued model/variant combinations. model accepts auto/stl/dae and defaults to auto; forcing dae for a variant without matching assets fails before nodes start. Other common arguments include use_sim_time, joint_states_topic, use_joint_state_bridge, use_joint_state_publisher_gui, and use_rviz. RX75 also accepts left_xyz/left_rpy/right_xyz/right_rpy. Invalid combinations fail before nodes are started. The historical *_display.launch.py commands below are compatibility wrappers and also default to model:=auto. Other original arguments and defaults are retained. Append model:=stl to display the original STL appearance.

Select the model and end-link version directly with arm_type, for example 65-6fb or eco63-6fb. A bare family selects its standard version.

First, after configuring the environment and completing the connection, we can directly start the node and run the rm_description package.

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_display.launch.py

The rm_<arm_type>_display.launch.py pattern applies to 65, 63, 63_III, 75, eco62, eco63, eco65, gen72, and gen72_II.

The command to start the six-axis force version is currently available for 63, 65, 75, and eco65:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6f_display.launch.py

The command to start the integrated six-axis force version is currently available for 63, 63_III, 65, 75, eco63, eco65, and rx75:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6fb_display.launch.py

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rm_description at Robotics Stack Exchange

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

rm_description package from ros2_rm_robot repo

control_arm_move force_position_control get_arm_state rm_bringup rm_control rm_description rm_doc rm_driver rm_example rm_gazebo rm_install rm_moveit2 rm_63_config rm_65_config rm_75_config rm_eco62_config rm_eco63_config rm_eco65_config rm_gen72_config rm_rx75_config rm_ros_interfaces

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.7.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/realmanrobot/ros2_rm_robot.git
VCS Type git
VCS Version humble
Last Updated 2026-10-30
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

  • ubuntu

Authors

No additional authors.
rm_description/README.md
[简体中文](README_CN.md)|[English](README.md)
# RealMan Robot rm_description User Manual V1.7 RealMan Intelligent Technology (Beijing) Co., Ltd. Revision History: |No. | Date | Comment | | :---: | :----: | :---: | |V1.0 | 2024-2-19 | Draft | |V1.1 | 2024-7-3 | Amend(Add GEN72 adapter files) | |V1.2 | 2024-9-11 | Amend(Add ECO63 adapter files) | |V1.3 | 2024-12-25 | Amend(Add 63, 65, 75, ECO65 six-axis force adapter files and 63, 65, 75, ECO63, ECO65 integrated six-axis force adapter files) | |V1.4 | 2025-4-7 | Amend(Add GEN72_II adapter files) | |V1.5 | 2025-11-13 | Amend(Add RML63_III adapter files) | |V1.6 | 2026-4-16 | Amend(Add ECO62 and RX75 adapter files) | |V1.7 | 2026-8-13 | Amend(Add the unified model-description entry, synchronize URDF/mesh assets, and add model-aware variant defaults) |

Launch examples

After building and sourcing the workspace, display an RM65 model with integrated force sensing:

# Model preview for simulation, generation 3, or older generation 4 software (GUI joint controls)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=true

# Real-robot state display (generation 4 controller software > 1.0.5; start rm_driver first)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=false

Generation 4 controller software 1.0.6 and later names the former 6fb end link 6f. This standalone display does not query controller generation: keep 65-6fb to select the same model. Real-robot display uses joint states from the driver without enabling the GUI joint-state publisher. See the generation-specific model table.

Content

rm_description_Package_Description

rm_description is a function package for displaying the robot model and TF transformation. Through this package, we can realize the linkage effect between a virtual robotic arm in a computer and a real robot arm in reality. In the moveit2 control, we also need the support of this package. This package is introduced in detail in the following aspects.

  • 1.Package use.
  • 2.Package architecture description.
  • 3.Package topic description. Through the introduction of the three parts, it can help you:
  • 1.Understand the package use.
  • 2.Familiar with the file structure and function of the package.
  • 3.Familiar with the topic related to the package for easy development and use. Source code address:https://github.com/RealManRobot/ros2_rm_robot.git.

    rm_description_Package_Use

    Model selection defaults to model:=auto: variants with matching assets use colored DAE, while other variants use STL. Select model:=stl for the original appearance, or model:=dae to require DAE. See the supported arm_type values and MoveIt model selection.

The generic entry is recommended:

ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6f use_joint_state_publisher_gui:=true use_rviz:=true

It explicitly supports the 21 catalogued model/variant combinations. model accepts auto/stl/dae and defaults to auto; forcing dae for a variant without matching assets fails before nodes start. Other common arguments include use_sim_time, joint_states_topic, use_joint_state_bridge, use_joint_state_publisher_gui, and use_rviz. RX75 also accepts left_xyz/left_rpy/right_xyz/right_rpy. Invalid combinations fail before nodes are started. The historical *_display.launch.py commands below are compatibility wrappers and also default to model:=auto. Other original arguments and defaults are retained. Append model:=stl to display the original STL appearance.

Select the model and end-link version directly with arm_type, for example 65-6fb or eco63-6fb. A bare family selects its standard version.

First, after configuring the environment and completing the connection, we can directly start the node and run the rm_description package.

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_display.launch.py

The rm_<arm_type>_display.launch.py pattern applies to 65, 63, 63_III, 75, eco62, eco63, eco65, gen72, and gen72_II.

The command to start the six-axis force version is currently available for 63, 65, 75, and eco65:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6f_display.launch.py

The command to start the integrated six-axis force version is currently available for 63, 63_III, 65, 75, eco63, eco65, and rx75:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6fb_display.launch.py

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rm_description at Robotics Stack Exchange

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

rm_description package from ros2_rm_robot repo

control_arm_move force_position_control get_arm_state rm_bringup rm_control rm_description rm_doc rm_driver rm_example rm_gazebo rm_install rm_moveit2 rm_63_config rm_65_config rm_75_config rm_eco62_config rm_eco63_config rm_eco65_config rm_gen72_config rm_rx75_config rm_ros_interfaces

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.7.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/realmanrobot/ros2_rm_robot.git
VCS Type git
VCS Version humble
Last Updated 2026-10-30
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

  • ubuntu

Authors

No additional authors.
rm_description/README.md
[简体中文](README_CN.md)|[English](README.md)
# RealMan Robot rm_description User Manual V1.7 RealMan Intelligent Technology (Beijing) Co., Ltd. Revision History: |No. | Date | Comment | | :---: | :----: | :---: | |V1.0 | 2024-2-19 | Draft | |V1.1 | 2024-7-3 | Amend(Add GEN72 adapter files) | |V1.2 | 2024-9-11 | Amend(Add ECO63 adapter files) | |V1.3 | 2024-12-25 | Amend(Add 63, 65, 75, ECO65 six-axis force adapter files and 63, 65, 75, ECO63, ECO65 integrated six-axis force adapter files) | |V1.4 | 2025-4-7 | Amend(Add GEN72_II adapter files) | |V1.5 | 2025-11-13 | Amend(Add RML63_III adapter files) | |V1.6 | 2026-4-16 | Amend(Add ECO62 and RX75 adapter files) | |V1.7 | 2026-8-13 | Amend(Add the unified model-description entry, synchronize URDF/mesh assets, and add model-aware variant defaults) |

Launch examples

After building and sourcing the workspace, display an RM65 model with integrated force sensing:

# Model preview for simulation, generation 3, or older generation 4 software (GUI joint controls)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=true

# Real-robot state display (generation 4 controller software > 1.0.5; start rm_driver first)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=false

Generation 4 controller software 1.0.6 and later names the former 6fb end link 6f. This standalone display does not query controller generation: keep 65-6fb to select the same model. Real-robot display uses joint states from the driver without enabling the GUI joint-state publisher. See the generation-specific model table.

Content

rm_description_Package_Description

rm_description is a function package for displaying the robot model and TF transformation. Through this package, we can realize the linkage effect between a virtual robotic arm in a computer and a real robot arm in reality. In the moveit2 control, we also need the support of this package. This package is introduced in detail in the following aspects.

  • 1.Package use.
  • 2.Package architecture description.
  • 3.Package topic description. Through the introduction of the three parts, it can help you:
  • 1.Understand the package use.
  • 2.Familiar with the file structure and function of the package.
  • 3.Familiar with the topic related to the package for easy development and use. Source code address:https://github.com/RealManRobot/ros2_rm_robot.git.

    rm_description_Package_Use

    Model selection defaults to model:=auto: variants with matching assets use colored DAE, while other variants use STL. Select model:=stl for the original appearance, or model:=dae to require DAE. See the supported arm_type values and MoveIt model selection.

The generic entry is recommended:

ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6f use_joint_state_publisher_gui:=true use_rviz:=true

It explicitly supports the 21 catalogued model/variant combinations. model accepts auto/stl/dae and defaults to auto; forcing dae for a variant without matching assets fails before nodes start. Other common arguments include use_sim_time, joint_states_topic, use_joint_state_bridge, use_joint_state_publisher_gui, and use_rviz. RX75 also accepts left_xyz/left_rpy/right_xyz/right_rpy. Invalid combinations fail before nodes are started. The historical *_display.launch.py commands below are compatibility wrappers and also default to model:=auto. Other original arguments and defaults are retained. Append model:=stl to display the original STL appearance.

Select the model and end-link version directly with arm_type, for example 65-6fb or eco63-6fb. A bare family selects its standard version.

First, after configuring the environment and completing the connection, we can directly start the node and run the rm_description package.

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_display.launch.py

The rm_<arm_type>_display.launch.py pattern applies to 65, 63, 63_III, 75, eco62, eco63, eco65, gen72, and gen72_II.

The command to start the six-axis force version is currently available for 63, 65, 75, and eco65:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6f_display.launch.py

The command to start the integrated six-axis force version is currently available for 63, 63_III, 65, 75, eco63, eco65, and rx75:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6fb_display.launch.py

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rm_description at Robotics Stack Exchange

Package symbol

rm_description package from ros2_rm_robot repo

control_arm_move force_position_control get_arm_state rm_bringup rm_control rm_description rm_doc rm_driver rm_example rm_gazebo rm_install rm_moveit2 rm_63_config rm_65_config rm_75_config rm_eco62_config rm_eco63_config rm_eco65_config rm_gen72_config rm_rx75_config rm_ros_interfaces

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.7.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/realmanrobot/ros2_rm_robot.git
VCS Type git
VCS Version humble
Last Updated 2026-10-30
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

  • ubuntu

Authors

No additional authors.
rm_description/README.md
[简体中文](README_CN.md)|[English](README.md)
# RealMan Robot rm_description User Manual V1.7 RealMan Intelligent Technology (Beijing) Co., Ltd. Revision History: |No. | Date | Comment | | :---: | :----: | :---: | |V1.0 | 2024-2-19 | Draft | |V1.1 | 2024-7-3 | Amend(Add GEN72 adapter files) | |V1.2 | 2024-9-11 | Amend(Add ECO63 adapter files) | |V1.3 | 2024-12-25 | Amend(Add 63, 65, 75, ECO65 six-axis force adapter files and 63, 65, 75, ECO63, ECO65 integrated six-axis force adapter files) | |V1.4 | 2025-4-7 | Amend(Add GEN72_II adapter files) | |V1.5 | 2025-11-13 | Amend(Add RML63_III adapter files) | |V1.6 | 2026-4-16 | Amend(Add ECO62 and RX75 adapter files) | |V1.7 | 2026-8-13 | Amend(Add the unified model-description entry, synchronize URDF/mesh assets, and add model-aware variant defaults) |

Launch examples

After building and sourcing the workspace, display an RM65 model with integrated force sensing:

# Model preview for simulation, generation 3, or older generation 4 software (GUI joint controls)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=true

# Real-robot state display (generation 4 controller software > 1.0.5; start rm_driver first)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=false

Generation 4 controller software 1.0.6 and later names the former 6fb end link 6f. This standalone display does not query controller generation: keep 65-6fb to select the same model. Real-robot display uses joint states from the driver without enabling the GUI joint-state publisher. See the generation-specific model table.

Content

rm_description_Package_Description

rm_description is a function package for displaying the robot model and TF transformation. Through this package, we can realize the linkage effect between a virtual robotic arm in a computer and a real robot arm in reality. In the moveit2 control, we also need the support of this package. This package is introduced in detail in the following aspects.

  • 1.Package use.
  • 2.Package architecture description.
  • 3.Package topic description. Through the introduction of the three parts, it can help you:
  • 1.Understand the package use.
  • 2.Familiar with the file structure and function of the package.
  • 3.Familiar with the topic related to the package for easy development and use. Source code address:https://github.com/RealManRobot/ros2_rm_robot.git.

    rm_description_Package_Use

    Model selection defaults to model:=auto: variants with matching assets use colored DAE, while other variants use STL. Select model:=stl for the original appearance, or model:=dae to require DAE. See the supported arm_type values and MoveIt model selection.

The generic entry is recommended:

ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6f use_joint_state_publisher_gui:=true use_rviz:=true

It explicitly supports the 21 catalogued model/variant combinations. model accepts auto/stl/dae and defaults to auto; forcing dae for a variant without matching assets fails before nodes start. Other common arguments include use_sim_time, joint_states_topic, use_joint_state_bridge, use_joint_state_publisher_gui, and use_rviz. RX75 also accepts left_xyz/left_rpy/right_xyz/right_rpy. Invalid combinations fail before nodes are started. The historical *_display.launch.py commands below are compatibility wrappers and also default to model:=auto. Other original arguments and defaults are retained. Append model:=stl to display the original STL appearance.

Select the model and end-link version directly with arm_type, for example 65-6fb or eco63-6fb. A bare family selects its standard version.

First, after configuring the environment and completing the connection, we can directly start the node and run the rm_description package.

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_display.launch.py

The rm_<arm_type>_display.launch.py pattern applies to 65, 63, 63_III, 75, eco62, eco63, eco65, gen72, and gen72_II.

The command to start the six-axis force version is currently available for 63, 65, 75, and eco65:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6f_display.launch.py

The command to start the integrated six-axis force version is currently available for 63, 63_III, 65, 75, eco63, eco65, and rx75:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6fb_display.launch.py

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rm_description at Robotics Stack Exchange

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

rm_description package from ros2_rm_robot repo

control_arm_move force_position_control get_arm_state rm_bringup rm_control rm_description rm_doc rm_driver rm_example rm_gazebo rm_install rm_moveit2 rm_63_config rm_65_config rm_75_config rm_eco62_config rm_eco63_config rm_eco65_config rm_gen72_config rm_rx75_config rm_ros_interfaces

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.7.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/realmanrobot/ros2_rm_robot.git
VCS Type git
VCS Version humble
Last Updated 2026-10-30
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

  • ubuntu

Authors

No additional authors.
rm_description/README.md
[简体中文](README_CN.md)|[English](README.md)
# RealMan Robot rm_description User Manual V1.7 RealMan Intelligent Technology (Beijing) Co., Ltd. Revision History: |No. | Date | Comment | | :---: | :----: | :---: | |V1.0 | 2024-2-19 | Draft | |V1.1 | 2024-7-3 | Amend(Add GEN72 adapter files) | |V1.2 | 2024-9-11 | Amend(Add ECO63 adapter files) | |V1.3 | 2024-12-25 | Amend(Add 63, 65, 75, ECO65 six-axis force adapter files and 63, 65, 75, ECO63, ECO65 integrated six-axis force adapter files) | |V1.4 | 2025-4-7 | Amend(Add GEN72_II adapter files) | |V1.5 | 2025-11-13 | Amend(Add RML63_III adapter files) | |V1.6 | 2026-4-16 | Amend(Add ECO62 and RX75 adapter files) | |V1.7 | 2026-8-13 | Amend(Add the unified model-description entry, synchronize URDF/mesh assets, and add model-aware variant defaults) |

Launch examples

After building and sourcing the workspace, display an RM65 model with integrated force sensing:

# Model preview for simulation, generation 3, or older generation 4 software (GUI joint controls)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=true

# Real-robot state display (generation 4 controller software > 1.0.5; start rm_driver first)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=false

Generation 4 controller software 1.0.6 and later names the former 6fb end link 6f. This standalone display does not query controller generation: keep 65-6fb to select the same model. Real-robot display uses joint states from the driver without enabling the GUI joint-state publisher. See the generation-specific model table.

Content

rm_description_Package_Description

rm_description is a function package for displaying the robot model and TF transformation. Through this package, we can realize the linkage effect between a virtual robotic arm in a computer and a real robot arm in reality. In the moveit2 control, we also need the support of this package. This package is introduced in detail in the following aspects.

  • 1.Package use.
  • 2.Package architecture description.
  • 3.Package topic description. Through the introduction of the three parts, it can help you:
  • 1.Understand the package use.
  • 2.Familiar with the file structure and function of the package.
  • 3.Familiar with the topic related to the package for easy development and use. Source code address:https://github.com/RealManRobot/ros2_rm_robot.git.

    rm_description_Package_Use

    Model selection defaults to model:=auto: variants with matching assets use colored DAE, while other variants use STL. Select model:=stl for the original appearance, or model:=dae to require DAE. See the supported arm_type values and MoveIt model selection.

The generic entry is recommended:

ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6f use_joint_state_publisher_gui:=true use_rviz:=true

It explicitly supports the 21 catalogued model/variant combinations. model accepts auto/stl/dae and defaults to auto; forcing dae for a variant without matching assets fails before nodes start. Other common arguments include use_sim_time, joint_states_topic, use_joint_state_bridge, use_joint_state_publisher_gui, and use_rviz. RX75 also accepts left_xyz/left_rpy/right_xyz/right_rpy. Invalid combinations fail before nodes are started. The historical *_display.launch.py commands below are compatibility wrappers and also default to model:=auto. Other original arguments and defaults are retained. Append model:=stl to display the original STL appearance.

Select the model and end-link version directly with arm_type, for example 65-6fb or eco63-6fb. A bare family selects its standard version.

First, after configuring the environment and completing the connection, we can directly start the node and run the rm_description package.

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_display.launch.py

The rm_<arm_type>_display.launch.py pattern applies to 65, 63, 63_III, 75, eco62, eco63, eco65, gen72, and gen72_II.

The command to start the six-axis force version is currently available for 63, 65, 75, and eco65:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6f_display.launch.py

The command to start the integrated six-axis force version is currently available for 63, 63_III, 65, 75, eco63, eco65, and rx75:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6fb_display.launch.py

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rm_description at Robotics Stack Exchange

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

rm_description package from ros2_rm_robot repo

control_arm_move force_position_control get_arm_state rm_bringup rm_control rm_description rm_doc rm_driver rm_example rm_gazebo rm_install rm_moveit2 rm_63_config rm_65_config rm_75_config rm_eco62_config rm_eco63_config rm_eco65_config rm_gen72_config rm_rx75_config rm_ros_interfaces

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.7.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/realmanrobot/ros2_rm_robot.git
VCS Type git
VCS Version humble
Last Updated 2026-10-30
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

  • ubuntu

Authors

No additional authors.
rm_description/README.md
[简体中文](README_CN.md)|[English](README.md)
# RealMan Robot rm_description User Manual V1.7 RealMan Intelligent Technology (Beijing) Co., Ltd. Revision History: |No. | Date | Comment | | :---: | :----: | :---: | |V1.0 | 2024-2-19 | Draft | |V1.1 | 2024-7-3 | Amend(Add GEN72 adapter files) | |V1.2 | 2024-9-11 | Amend(Add ECO63 adapter files) | |V1.3 | 2024-12-25 | Amend(Add 63, 65, 75, ECO65 six-axis force adapter files and 63, 65, 75, ECO63, ECO65 integrated six-axis force adapter files) | |V1.4 | 2025-4-7 | Amend(Add GEN72_II adapter files) | |V1.5 | 2025-11-13 | Amend(Add RML63_III adapter files) | |V1.6 | 2026-4-16 | Amend(Add ECO62 and RX75 adapter files) | |V1.7 | 2026-8-13 | Amend(Add the unified model-description entry, synchronize URDF/mesh assets, and add model-aware variant defaults) |

Launch examples

After building and sourcing the workspace, display an RM65 model with integrated force sensing:

# Model preview for simulation, generation 3, or older generation 4 software (GUI joint controls)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=true

# Real-robot state display (generation 4 controller software > 1.0.5; start rm_driver first)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=false

Generation 4 controller software 1.0.6 and later names the former 6fb end link 6f. This standalone display does not query controller generation: keep 65-6fb to select the same model. Real-robot display uses joint states from the driver without enabling the GUI joint-state publisher. See the generation-specific model table.

Content

rm_description_Package_Description

rm_description is a function package for displaying the robot model and TF transformation. Through this package, we can realize the linkage effect between a virtual robotic arm in a computer and a real robot arm in reality. In the moveit2 control, we also need the support of this package. This package is introduced in detail in the following aspects.

  • 1.Package use.
  • 2.Package architecture description.
  • 3.Package topic description. Through the introduction of the three parts, it can help you:
  • 1.Understand the package use.
  • 2.Familiar with the file structure and function of the package.
  • 3.Familiar with the topic related to the package for easy development and use. Source code address:https://github.com/RealManRobot/ros2_rm_robot.git.

    rm_description_Package_Use

    Model selection defaults to model:=auto: variants with matching assets use colored DAE, while other variants use STL. Select model:=stl for the original appearance, or model:=dae to require DAE. See the supported arm_type values and MoveIt model selection.

The generic entry is recommended:

ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6f use_joint_state_publisher_gui:=true use_rviz:=true

It explicitly supports the 21 catalogued model/variant combinations. model accepts auto/stl/dae and defaults to auto; forcing dae for a variant without matching assets fails before nodes start. Other common arguments include use_sim_time, joint_states_topic, use_joint_state_bridge, use_joint_state_publisher_gui, and use_rviz. RX75 also accepts left_xyz/left_rpy/right_xyz/right_rpy. Invalid combinations fail before nodes are started. The historical *_display.launch.py commands below are compatibility wrappers and also default to model:=auto. Other original arguments and defaults are retained. Append model:=stl to display the original STL appearance.

Select the model and end-link version directly with arm_type, for example 65-6fb or eco63-6fb. A bare family selects its standard version.

First, after configuring the environment and completing the connection, we can directly start the node and run the rm_description package.

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_display.launch.py

The rm_<arm_type>_display.launch.py pattern applies to 65, 63, 63_III, 75, eco62, eco63, eco65, gen72, and gen72_II.

The command to start the six-axis force version is currently available for 63, 65, 75, and eco65:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6f_display.launch.py

The command to start the integrated six-axis force version is currently available for 63, 63_III, 65, 75, eco63, eco65, and rx75:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6fb_display.launch.py

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rm_description at Robotics Stack Exchange

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

rm_description package from ros2_rm_robot repo

control_arm_move force_position_control get_arm_state rm_bringup rm_control rm_description rm_doc rm_driver rm_example rm_gazebo rm_install rm_moveit2 rm_63_config rm_65_config rm_75_config rm_eco62_config rm_eco63_config rm_eco65_config rm_gen72_config rm_rx75_config rm_ros_interfaces

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 1.7.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/realmanrobot/ros2_rm_robot.git
VCS Type git
VCS Version humble
Last Updated 2026-10-30
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

TODO: Package description

Maintainers

  • ubuntu

Authors

No additional authors.
rm_description/README.md
[简体中文](README_CN.md)|[English](README.md)
# RealMan Robot rm_description User Manual V1.7 RealMan Intelligent Technology (Beijing) Co., Ltd. Revision History: |No. | Date | Comment | | :---: | :----: | :---: | |V1.0 | 2024-2-19 | Draft | |V1.1 | 2024-7-3 | Amend(Add GEN72 adapter files) | |V1.2 | 2024-9-11 | Amend(Add ECO63 adapter files) | |V1.3 | 2024-12-25 | Amend(Add 63, 65, 75, ECO65 six-axis force adapter files and 63, 65, 75, ECO63, ECO65 integrated six-axis force adapter files) | |V1.4 | 2025-4-7 | Amend(Add GEN72_II adapter files) | |V1.5 | 2025-11-13 | Amend(Add RML63_III adapter files) | |V1.6 | 2026-4-16 | Amend(Add ECO62 and RX75 adapter files) | |V1.7 | 2026-8-13 | Amend(Add the unified model-description entry, synchronize URDF/mesh assets, and add model-aware variant defaults) |

Launch examples

After building and sourcing the workspace, display an RM65 model with integrated force sensing:

# Model preview for simulation, generation 3, or older generation 4 software (GUI joint controls)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=true

# Real-robot state display (generation 4 controller software > 1.0.5; start rm_driver first)
ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6fb use_rviz:=true use_joint_state_publisher_gui:=false

Generation 4 controller software 1.0.6 and later names the former 6fb end link 6f. This standalone display does not query controller generation: keep 65-6fb to select the same model. Real-robot display uses joint states from the driver without enabling the GUI joint-state publisher. See the generation-specific model table.

Content

rm_description_Package_Description

rm_description is a function package for displaying the robot model and TF transformation. Through this package, we can realize the linkage effect between a virtual robotic arm in a computer and a real robot arm in reality. In the moveit2 control, we also need the support of this package. This package is introduced in detail in the following aspects.

  • 1.Package use.
  • 2.Package architecture description.
  • 3.Package topic description. Through the introduction of the three parts, it can help you:
  • 1.Understand the package use.
  • 2.Familiar with the file structure and function of the package.
  • 3.Familiar with the topic related to the package for easy development and use. Source code address:https://github.com/RealManRobot/ros2_rm_robot.git.

    rm_description_Package_Use

    Model selection defaults to model:=auto: variants with matching assets use colored DAE, while other variants use STL. Select model:=stl for the original appearance, or model:=dae to require DAE. See the supported arm_type values and MoveIt model selection.

The generic entry is recommended:

ros2 launch rm_description rm_description.launch.py \
  arm_type:=65-6f use_joint_state_publisher_gui:=true use_rviz:=true

It explicitly supports the 21 catalogued model/variant combinations. model accepts auto/stl/dae and defaults to auto; forcing dae for a variant without matching assets fails before nodes start. Other common arguments include use_sim_time, joint_states_topic, use_joint_state_bridge, use_joint_state_publisher_gui, and use_rviz. RX75 also accepts left_xyz/left_rpy/right_xyz/right_rpy. Invalid combinations fail before nodes are started. The historical *_display.launch.py commands below are compatibility wrappers and also default to model:=auto. Other original arguments and defaults are retained. Append model:=stl to display the original STL appearance.

Select the model and end-link version directly with arm_type, for example 65-6fb or eco63-6fb. A bare family selects its standard version.

First, after configuring the environment and completing the connection, we can directly start the node and run the rm_description package.

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_display.launch.py

The rm_<arm_type>_display.launch.py pattern applies to 65, 63, 63_III, 75, eco62, eco63, eco65, gen72, and gen72_II.

The command to start the six-axis force version is currently available for 63, 65, 75, and eco65:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6f_display.launch.py

The command to start the integrated six-axis force version is currently available for 63, 63_III, 65, 75, eco63, eco65, and rx75:

rm@rm-desktop:~$ ros2 launch rm_description rm_<arm_type>_6fb_display.launch.py

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rm_description at Robotics Stack Exchange

Package symbol

rm_description package from rm_description repo

rm_description

ROS Distro
noetic

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.9
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/rm-controls/rm_description.git
VCS Type git
VCS Version master
Last Updated 2022-06-16
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

RoboMaster robot description files

Maintainers

  • Qiayuan Liao

Authors

  • Qiayuan Liao
README.md

rm_description

Overview

This is a ROS package with description files of RoboMaster robot made by DynamicX.

Keywords: RoboMaster, URDF, description

Or, add some keywords to the Bitbucket or GitHub repository.

License

The source code is released under a BSD 3-Clause license.

Author: QiayuanLiao
Affiliation: DynamicX
Maintainer: QiayuanLiao, liaoqiayuan@gmail.com

The rm_description package has been tested under [ROS] Noetic on respectively 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Example image

Installation

Building from Source

Dependencies

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone git@github.com:gdut-dynamic-x/rm_description.git
# git clone https://github.com/gdut-dynamic-x/rm_description.git
cd ../
rosdep install --from-paths . --ignore-src
catkin build # Actually nothing to build

Usage

Run the simulation with:

roslaunch rm_description hero.launch

Config files

  • worlds/empty.worlds Simulate physics eigen params.

Launch files

  • hero.launch: Launch Gazebo and load hero robot.

    Loading argument set

    • load_chassis Load chassis URDF. Default: true.
    • load_gimbal Load gimbal URDF. Default: true.
    • load_shooter Load shooter URDF. Default: true.
    • load_gazebo Load Gazebo params and run Gazebo. Default: true.
    • use_rm_gazebo Use Gazebo params and run Gazebo. Default: false.
    • paused Paused simulation when load Gazbeo. Default: true.

    Chassis argument set

    • roller_type How to simulate the roller of mecanum wheel, set simple to use sphere roller for speed up simulation, set none for real robot. Default: realistic(use one sphere with two capsule roller.stl).

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker .

CHANGELOG

Changelog for package rm_description

0.1.9 (2022-04-01)

  • Add omni wheel urdf
  • Complete omni wheel urdf
  • Add test launch file to check urdf
  • Rename launch file.Delete roller_type in urdf.Change args of hook
  • Merge pull request #21 from ye-luo-xi-tui/omni_wheel
  • Fix errors of swerve urdf
  • Add CI/CD action
  • Create Doxyfile
  • Create .pre-commit-config.yaml
  • Add permissions to script
  • Delete pre_release.yml
  • Merge pull request #3 from YuuinlH/-master
  • Merge pull request #4 from YuuinlH/-master
  • Update deb_package.yml
  • Merge pull request #5 from YuuinlH/-master
  • Update package.sh
  • Delete doxygen action(Uesless)
  • Add"none"type of omni_wheel roller.Set"none"for real robot
  • Fix error in check_joint.launch.Add rviz launch.
  • Merge pull request #8 from ye-luo-xi-tui/-master
  • Add LICENSE file
  • Update the hero description files
  • Modify the format error of hero urdf files
  • Merge pull request #11 from Edwinlinks/-hero_urdf
  • Contributors: Edwinlinks, QiayuanLiao, YuuinIH, qiayuan, yezi, mlione

0.1.8 (2021-12-7)

  • Merge pull request #19 from ye-luo-xi-tui/fix_rmua_bug Fix rmua bug
  • Change limit of rmua. (cherry picked from commit a1e4d841dd4cda83d50189a8f5d3bd84d604d244)
  • Fix a bug in rmua urdf (cherry picked from commit cd6f7fac5c375cd74408620438039ca2c83437cd)
  • Merge branch 'master' into master
  • Update standard4.urdf.xacro and rm_hw/config/standard4.yaml.
  • Merge remote-tracking branch 'origin/master'
  • Merge pull request #16 from Edwinlinks/master Modify the date of standard in rm_description
  • Modify the date of standard in rm_description
  • Fix imu inertia and add imu to balance
  • Merge branch 'master' into gimbal/opti_or_simplify
  • Update CHANGELOG
  • Update standard5's imu orientation
  • Update IMU orientation of standard5.urdf.xacro
  • Merge branch 'master' into gimbal/opti_or_simplify
  • Merge branch 'master' into gimbal/opti_or_simplify
  • Update URDF of imu
  • Contributors: BruceLannn, Edwinlinks, QiayuanLiao, YuuinIH, qiayuan, yezi

0.1.7 (2021-09-26)

  • 0.1.6
  • Update CHANGELOG
  • Update URDF of imu
  • Contributors: qiayuan

0.1.6 (2021-09-26)

  • Update URDF of imu
  • Contributors: qiayuan

0.1.5 (2021-09-02)

0.1.4 (2021-09-02)

0.1.3 (2021-09-01)

  • Merge branch 'master' into master
  • Contributors: QiayuanLiao
  • Merge branch 'master' into master
  • Contributors: QiayuanLiao

0.1.2 (2021-08-14)

  • Run pre-commit
  • Contributors: qiayuan

0.1.1 (2021-08-12)

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Package Dependencies

Deps Name
catkin
xacro

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rm_control
rm_gazebo

Launch files

  • launch/check_joint.launch
      • robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, hero, engineer]
      • load_chassis [default: true]
      • load_gimbal [default: true]
      • load_shooter [default: true]
      • load_arm [default: true]
      • roller_type [default: simple] — simple or realistic

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rm_description at Robotics Stack Exchange