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Astromech Stack

This is a simp

FILES:
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r2d2.xacro
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This file contains a specification of an R2-D2 type robot, in XACRO
macro language. Currently, the following joints are modeled:
       - platform motion
       - joints needed for 2-3-2 transition (leg-to-body, center leg)
       - dome motion

r2d2.urdf
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This file contains a R2-D2 specification in URDF language. This is
generated from r2d2.xacro by the following line:
	rosrun xacro xacro.py r2d2.xacro > r2d2.urdf
Please do all editing in r2d2.xacro only.

astromech_base
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Interface that connects to the robot's control processor via serial
link and broadcasts robot state data.
This must be adapted to your own droid! Currently it's proprietary to
my Tönnchen robot.

launch
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Contains example launch files.