https://github.com/fiveages-sim/robot-descriptions-common
Common Component using in robot_descriptions
https://github.com/fiveages-sim/robot-descriptions-common
Last synced: about 2 months ago
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Common Component using in robot_descriptions
- Host: GitHub
- URL: https://github.com/fiveages-sim/robot-descriptions-common
- Owner: fiveages-sim
- License: apache-2.0
- Created: 2025-10-23T01:59:16.000Z (8 months ago)
- Default Branch: main
- Last Pushed: 2026-04-03T11:23:42.000Z (2 months ago)
- Last Synced: 2026-04-03T12:33:43.603Z (2 months ago)
- Language: Python
- Size: 86.4 MB
- Stars: 2
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Robot Descriptions - Common Components
This repository contains shared robot description files including grippers, dexterous hands, sensor models, and common launch utilities for ROS2 robots.
## Overview
This is a git submodule of the main [robot_descriptions](https://github.com/fiveages-sim/robot_descriptions) repository, containing commonly used end-effectors and sensors that can be attached to various robot platforms.
## Components
### Grippers
Located in `gripper/` directory:
| Brand | Models | Repaint | Images |
|--------------------------------------|----------------------|---------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| [ChangingTek](gripper/changingtek_description) | AG2F90-C
AG2F120S | Yes | 
|
| [DH](gripper/dh_description) | PGC_140_50 | Yes | 
|
| [Robotiq](gripper/robotiq_description) | 2F-85 | Yes | 
|
| [Inspire](gripper/inspire_description) | EG2-4C2 | Yes | 
|
| [Jodell](gripper/jodell_description) | RG75-300 | Yes | 
|
Each gripper package includes:
- URDF/Xacro files for robot description
- 3D meshes (collision and visual)
- ROS2 Control configurations
- Mounting configurations for various robot arms
### Dexterous Hands
Mainly located in `dexhands/` directory (Inspire RH56E2 is provided by `gripper/inspire_description`):
| Brand | Model | Repaint | Images |
|--------------------------------------------|-----------------------|---------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| [BrainCo](dexhands/brainco_description) | REVO1
REVO2 | Yes | 
|
| [LinkerHand](dexhands/linkerhand_description) | O6
O7
L6
L10 | Yes | 
|
| [Inspire](gripper/inspire_description) | RH56E2 | Yes | 
|
| [OyMotion](dexhands/oymotion_description) | RoHand Gen2 | Yes | 
|
Features:
- Full kinematic chain definition
- Support for both left and right hands
- Individual finger joint control
- High-quality visual meshes
### Sensor Models
Located in `sensor_models/` directory:
Includes URDF descriptions and meshes for:
- Intel RealSense D405
- Intel RealSense D435
- Orbbec Dabai
- Livox Mid-360
These sensor models can be easily integrated into robot descriptions for simulation and visualization.
### Common Launch Files
Located in `robot_common_launch/` directory:
A collection of reusable launch files and utilities:
#### Visualization
- `visualize/gripper.launch.py` - Launch gripper visualization
- `visualize/hand.launch.py` - Launch dexterous hand visualization
- `visualize/manipulator.launch.py` - Launch manipulator visualization
- `visualize/humanoid.launch.py` - Launch humanoid robot visualization
#### Control
- `control/controller_manager.launch.py` - Launch ROS2 controller manager
- `control/diff_drive.launch.py` - Launch differential drive controller
- `control/hardware_visualize.launch.py` - Launch hardware visualization
#### Manipulation
- `manipulation/manipulator_ocs2.launch.py` - Launch OCS2 MPC for manipulators
#### Navigation
- `navigation/navigation.launch.py` - Launch Nav2 stack
- `navigation/cartographer.launch.py` - Launch Cartographer SLAM
- `navigation/navigation_slam.launch.py` - Launch Nav2 with SLAM
- `navigation/amr_rctk.launch.py` - Launch AMR RCTK navigation
Also includes:
- RViz configuration files
- Navigation parameter files (Nav2, SLAM Toolbox, Cartographer)
- Gazebo bridge configurations
- Simulation world files
## Usage
### As Part of Robot Description
To use these components in your robot description, you can include them using xacro:
```xml
```
### Using Common Launch Files
```bash
# Visualize a gripper
ros2 launch robot_common_launch gripper.launch.py
# Launch manipulator with OCS2 MPC
ros2 launch robot_common_launch manipulator_ocs2.launch.py
# Start navigation with SLAM
ros2 launch robot_common_launch navigation_slam.launch.py
```
## Package Structure
```
common/
├── sensor_models/ # Sensor URDF models
├── dexhands/ # Dexterous hand descriptions
│ ├── brainco_description/
│ ├── linkerhand_description/
│ └── oymotion_description/
├── gripper/ # Gripper descriptions
│ ├── changingtek_description/
│ ├── dh_description/
│ ├── inspire_description/
│ ├── jodell_description/
│ └── robotiq_description/
└── robot_common_launch/ # Common launch files and utilities
├── config/ # Configuration files (RViz, Nav2, etc.)
├── launch/ # Launch files
└── worlds/ # Simulation world files
```