pallet_truck Description

This packages contains the meshes and URDF of the pallet_truck robot, its supported sensors, and their supported mounts. At the moment there are 2 viable pallet_truck urdfs.

• pallet_truck.urdf.xacro
• pallet_truck_simpkle_collisions.urdf.xacro

The puropse is to make them the same but with the simple collision using a box as a collision tag instead of the mesh itself.

To switch between them update the following code in simulation/pallet_truck/pallet_truck_bringup/launch/gazebo.launch.py:

PathJoinSubstitution(
                [
                    FindPackageShare("pallet_truck_description"),
                    "urdf",
                    "pallet_truck.urdf.xacro", #<----
                ]
            ),

Sensors

• GPS: Novatel Smart6 and Smart7
• 2D LiDAR: SICK LMS1xx
• 2D LiDAR: Hokuyo UST-10
• 3D LiDAR: Velodyne VLP16 and HDL-32E
• Camera: Flir/Pointgrey Flea3 and Flea3 Stereo
• Camera: Flir/Pointgrey Bumbleebee2
• Camera: Flir/Pointgrey BlackflyS