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XYZ Cartesian or Gantry Robot URDF Files

asked 2020-04-07 19:36:04 -0600

Mat_ROS gravatar image


I am trying to simulate a XYZ Gantry robot and was wondering if there are any pre-existing urdf files out there that could help me with the process.

Being quite new to ROS and robotics as a whole, I would greatly appreciate any help that could be provided. Whether that simply means just pointing me in the right direction.

Thank you in advance.

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answered 2020-04-07 21:55:21 -0600

I haven't seen a ready-made Gantry robot URDF, but it shouldn't be too complicated to build. You can either use URDFs or XACROs, which are just more complex URDFs with macros and some other cool features. You can find some tutorials here:


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Thank you. I will have a look into them now.

Mat_ROS gravatar image Mat_ROS  ( 2020-04-07 21:56:41 -0600 )edit

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Asked: 2020-04-07 19:36:04 -0600

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Last updated: Apr 07 '20