[ros-users] iRobot Create URDF

[Jeff Rousseau]

Hi all,

I've put together a basic URDF for the iRobot Create platform. It's 
available for download through our new svn repo:

svn checkout 
http://aptima-ros-pkg.googlecode.com/svn/trunk/irobot_create_description

(Note: currently it relies on the 'erratic_gazebo_plugins' pkg to 
implement its diff-drive, available here: 
http://ua-ros-pkg.googlecode.com/svn/trunk/arrg/ua_controllers/erratic_gazebo_plugins/)

comments, bug reports and patches are appreciated

I plan to add/fix in the not too distant future:
- a working bumper
- tweak mass/friction params to be more realistic (they're fudged at the 
moment)
- fix intermittent 'wobble' when transitioning between translation and 
rotations (friction coeff issue?)

enjoy,
Jeff

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