URDF model for iRobot Create, aptima-ros-pkg

Jeff Rousseau announced a basic URDF model for the iRobot Create as well as new aptima-ros-pkg code repository

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/irobotcreatedescription

(Note: currently it relies on the erratic_gazebo_plugins pkg to implement its diff-drive)

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