Seeed-Projects · Welt-liu · Jul 24, 2026 · Jul 24, 2026
diff --git a/urdf/reBot_B601_DM/CMakeLists.txt b/urdf/reBot_B601_DM/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(reBot_B601_DM)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
diff --git a/urdf/reBot_B601_DM/config/joint_names_reBot_B601_DM.yaml b/urdf/reBot_B601_DM/config/joint_names_reBot_B601_DM.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'gripper_joint1', 'gripper_joint2', ]
diff --git a/urdf/reBot_B601_DM/export.log b/urdf/reBot_B601_DM/export.log
diff --git a/urdf/reBot_B601_DM/launch/display.launch b/urdf/reBot_B601_DM/launch/display.launch
@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find reBot_B601_DM)/urdf/reBot_B601_DM.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find reBot_B601_DM)/urdf.rviz" />
+</launch>
diff --git a/urdf/reBot_B601_DM/launch/gazebo.launch b/urdf/reBot_B601_DM/launch/gazebo.launch
@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find reBot_B601_DM)/urdf/reBot_B601_DM.urdf -urdf -model reBot_B601_DM"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>
diff --git a/urdf/reBot_B601_DM/meshes/Lcnc.STL b/urdf/reBot_B601_DM/meshes/Lcnc.STL
diff --git a/urdf/reBot_B601_DM/meshes/Lpla.STL b/urdf/reBot_B601_DM/meshes/Lpla.STL
diff --git a/urdf/reBot_B601_DM/meshes/Rcnc.STL b/urdf/reBot_B601_DM/meshes/Rcnc.STL
diff --git a/urdf/reBot_B601_DM/meshes/Rpla.STL b/urdf/reBot_B601_DM/meshes/Rpla.STL
diff --git a/urdf/reBot_B601_DM/meshes/base_link.STL b/urdf/reBot_B601_DM/meshes/base_link.STL
diff --git a/urdf/reBot_B601_DM/meshes/cnc0.STL b/urdf/reBot_B601_DM/meshes/cnc0.STL
diff --git a/urdf/reBot_B601_DM/meshes/cnc1.STL b/urdf/reBot_B601_DM/meshes/cnc1.STL
diff --git a/urdf/reBot_B601_DM/meshes/cnc2.STL b/urdf/reBot_B601_DM/meshes/cnc2.STL
diff --git a/urdf/reBot_B601_DM/meshes/cnc3.STL b/urdf/reBot_B601_DM/meshes/cnc3.STL
diff --git a/urdf/reBot_B601_DM/meshes/cnc4.STL b/urdf/reBot_B601_DM/meshes/cnc4.STL
diff --git a/urdf/reBot_B601_DM/meshes/cnc5.STL b/urdf/reBot_B601_DM/meshes/cnc5.STL
diff --git a/urdf/reBot_B601_DM/meshes/cnc7.STL b/urdf/reBot_B601_DM/meshes/cnc7.STL
diff --git a/urdf/reBot_B601_DM/meshes/gripper_left.STL b/urdf/reBot_B601_DM/meshes/gripper_left.STL
diff --git a/urdf/reBot_B601_DM/meshes/gripper_link.STL b/urdf/reBot_B601_DM/meshes/gripper_link.STL
diff --git a/urdf/reBot_B601_DM/meshes/gripper_right.STL b/urdf/reBot_B601_DM/meshes/gripper_right.STL
diff --git a/urdf/reBot_B601_DM/meshes/link1.STL b/urdf/reBot_B601_DM/meshes/link1.STL
diff --git a/urdf/reBot_B601_DM/meshes/link2.STL b/urdf/reBot_B601_DM/meshes/link2.STL
diff --git a/urdf/reBot_B601_DM/meshes/link3.STL b/urdf/reBot_B601_DM/meshes/link3.STL
diff --git a/urdf/reBot_B601_DM/meshes/link4.STL b/urdf/reBot_B601_DM/meshes/link4.STL
diff --git a/urdf/reBot_B601_DM/meshes/link5.STL b/urdf/reBot_B601_DM/meshes/link5.STL
diff --git a/urdf/reBot_B601_DM/meshes/link6.STL b/urdf/reBot_B601_DM/meshes/link6.STL
diff --git a/urdf/reBot_B601_DM/meshes/motor2.STL b/urdf/reBot_B601_DM/meshes/motor2.STL
diff --git a/urdf/reBot_B601_DM/meshes/motor3.STL b/urdf/reBot_B601_DM/meshes/motor3.STL
diff --git a/urdf/reBot_B601_DM/meshes/motor4.STL b/urdf/reBot_B601_DM/meshes/motor4.STL
diff --git a/urdf/reBot_B601_DM/meshes/motor5.STL b/urdf/reBot_B601_DM/meshes/motor5.STL
diff --git a/urdf/reBot_B601_DM/meshes/motor7.STL b/urdf/reBot_B601_DM/meshes/motor7.STL
diff --git a/urdf/reBot_B601_DM/meshes/pla0_black.STL b/urdf/reBot_B601_DM/meshes/pla0_black.STL
diff --git a/urdf/reBot_B601_DM/meshes/pla1_black.STL b/urdf/reBot_B601_DM/meshes/pla1_black.STL
diff --git a/urdf/reBot_B601_DM/meshes/pla2_black.STL b/urdf/reBot_B601_DM/meshes/pla2_black.STL
diff --git a/urdf/reBot_B601_DM/meshes/pla2_green.STL b/urdf/reBot_B601_DM/meshes/pla2_green.STL
diff --git a/urdf/reBot_B601_DM/meshes/pla3_black.STL b/urdf/reBot_B601_DM/meshes/pla3_black.STL
diff --git a/urdf/reBot_B601_DM/meshes/pla3_green.STL b/urdf/reBot_B601_DM/meshes/pla3_green.STL
diff --git a/urdf/reBot_B601_DM/meshes/pla4_black.STL b/urdf/reBot_B601_DM/meshes/pla4_black.STL
diff --git a/urdf/reBot_B601_DM/meshes/pla5_black.STL b/urdf/reBot_B601_DM/meshes/pla5_black.STL
diff --git a/urdf/reBot_B601_DM/meshes/pla5_white.STL b/urdf/reBot_B601_DM/meshes/pla5_white.STL
diff --git a/urdf/reBot_B601_DM/meshes/pla7_black.STL b/urdf/reBot_B601_DM/meshes/pla7_black.STL
diff --git a/urdf/reBot_B601_DM/meshes/pla7_green.STL b/urdf/reBot_B601_DM/meshes/pla7_green.STL
diff --git a/urdf/reBot_B601_DM/package.xml b/urdf/reBot_B601_DM/package.xml
@@ -0,0 +1,21 @@
+<package format="2">
+  <name>reBot_B601_DM</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for reBot_B601_DM</p>
+    <p>This package contains configuration data, 3D models and launch files
+for reBot_B601_DM robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>
diff --git a/urdf/reBot_B601_DM/urdf/reBot_B601_DM.csv b/urdf/reBot_B601_DM/urdf/reBot_B601_DM.csv
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'gripper_joint1', 'gripper_joint2', ]