Multi-Robot Visualization in ROS 2 Humble

This repository provides a collection of URDF models, mesh assets, and launch files to visualize multiple robot types in RViz2 under ROS 2 Humble. It includes support for GO2, MYAGV, MyCobot 280 Pi (with camera, pump, and gripper), Nova5 with Robotiq 2F85 gripper, and combination robots.

📦 Included Robots

• GO2 Quadruped
• MYAGV Base
• MyCobot 280 Pi with camera flange and pump
• Nova5 Arm with Robotiq 2F85 gripper
• Combo Models combining myagv and mycobot280pi with gripper

🚀 Quick Start

1. Clone the Repository

bash git clone https://github.com/YOUR_USERNAME/All_Robot.git

Copy robotdescription under your ros 2 humble workspace, here is an example: ```bash cp robotdescription/ ~/ros2ws/src cd ~/ros2ws colcon build do not forget to source the setup file after compilation bash source install/setup.bash ros2 launch robotdescription allin_one.launch.py ```

2. Launch Individual Robots

You can also launch individual models: bash ros2 launch robot_description/go2.launch.py ros2 launch robot_description/myagv.launch.py ros2 launch robot_description/nova5.launch.py ros2 launch robot_description/mycomb.launch.py

3. Expected output in RViz2

Dependencies

Make sure you have the following ROS 2 Humble packages installed:

bash sudo apt install ros-humble-xacro ros-humble-rviz2 ros-humble-tf2-ros

🙏 Acknowledgements

The robot models and mesh files included in this repository are sourced or adapted from publicly available resources and vendor documentation, listed below per robot:

🐾 GO2 Quadruped

• Mesh Source: Unitree Robotics
• URDF: Found from Unitree Robotics.

🚗 MYAGV

• Mesh Source: Elephant Robotics
• URDF: Based on structure and CAD models shared by the community and internal adaptation.

🤖 MyCobot 280 Pi

• Mesh Source: Elephant Robotics MyCobot 280 Pi with Gripper
• URDF: Partially adapted from the mycobot_ros repository and extended to include camera flange and suction pump.
  • Original repo: mycobot_ros

🦾 Nova5 Arm with Robotiq 2F85 Gripper

• Nova5 Mesh Source: Found from Dobot Nova5 Repo.
• Robotiq 2F85 Mesh Source: Robotiq ROS packages
• URDF: Found from Dobot Nova5 Repo and constructed by Xuezhi Niu.

🧩 Combo Models

• Description: URDFs manually composed to integrate MYAGV and MyCobot 280 Pi with gripper.
• Meshes: Reused from the above sources.
• URDF: Custom composed based on combined coordinate frames, joint constraints, and mounting alignment.

If any source files or assets used here unintentionally lack attribution, please contact the repository maintainer so we can make appropriate corrections.