ROS2 Robot description package for P3Bot, including its kinematic structure, visual and collision models, and integrated dual Kinova Gen3 arms.
This repository provides a pure robot description (URDF/xacro + meshes) intended to be reused by simulation, bringup, control, and planning packages.
- Complete URDF/xacro description of the P3Bot mobile manipulator
- Dual Kinova Gen3 7-DoF arms (left and right)
- Visual and collision meshes for the full robot
Key architectural decisions:
- The Kinova Gen3 arm is defined as a reusable xacro macro
- Arms are fully namespaced (
left_,right_) to support dual-arm setups - Frame conventions follow REP-103
The Kinova Gen3 7-DoF arm is integrated as a parametrized xacro macro:
- Independent from the P3Bot base
- Mount position and orientation defined externally
- Suitable for left, right, or single-arm configurations
Mounting is performed using explicit fixed joints, ensuring:
- correct gravity direction
- consistent behavior in RViz
- no hidden transformations inside the arm model