toio_description

Introduction

toio_description provides a 3D model of the toio for visualization.

3D model of toio described in robot/toio.urdf.xacro
Publish robot_description topic and tf topic using launch/robot_description.launch.py
namespace and frame_prefix arguments for multi-robot setups
The shared model used by both the real cube(toio_ros2) and the simulation(toio_gazebo)
Gazebo integration described in the same xacro: a DiffDrive plugin(driven by /cmd_vel), an IMU sensor on the center link(/toio/imu), and an indicator LED(ToioLedSystem plugin)
xacro arguments for the simulation: imu_interval_ms, led_duration_ms, led_light_intensity(in addition to frame_prefix)

I checked this package on the following environment.

The 3D model is distributed under a different license from the source code. Please see License in detail.