Overview

This repository contains URDF xacros and mesh assets for FANUC robots as well as examples for composing and visualizing URDFs.

Repository structure

├── fanuc_crx_description
│   ├── launch
│   │   └── view_crx.launch.py
│   ├── meshes
│   │   ├── crx10ia
│   │   │   ├── collision
│   │   │   │   └── ...
│   │   │   └── visual
│   │   │       └── ...
│   │   └── ... other models
│   ├── robot
│   │   ├── crx10ia.urdf.xacro
│   │   └── ... other example top-level xacro files
│   ├── rviz
│   │   └── view_crx.rviz
│   ├── urdf
│   │   ├── crx10ia_urdf_macro.xacro
│   │   └── ... other models
│   ├── CMakeLists.txt
│   └── package.xml
└── README.md

Description files are organized by FANUC robot arm model family.

Package structure

Packages have the following subdirectories:

  • meshes/: Visual and collision meshes for each robot.

  • urdf/: Base xacro macro files for generating a robot description (as a URDF) for a specific robot model.

  • robot/: Example top-level xacro files that generate a complete URDF containing a robot model.

  • launch/ and rviz/: Launch files and configuration for visualizing robots in robot/.