Overview

These guides provide specific recipes to help you solve a particular problem or complete a specific task.

️ Best Practices

Guidelines for cross-platform compatibility and efficient robot modeling.

Adding Sensors

How to attach and configure LiDAR, Cameras, and IMU sensors.

Control Dashboard

Actuate your robot with ros2_control interfaces (Position, Velocity, Effort).

🧱 Collision Geometry

Optimize simulation performance with simplified collision primitives.

️ Joint Visualization

Debug your robot topology with visual axis and limit indicators.

🩺 Troubleshooting

Solutions for common import/export issues and validation errors.

️ Physics & Inertia

Configure mass, inertia tensors, and manual Center of Mass offsets.

🤖 Build Robots in Python

Programmatically assemble robots, attach sub-models, and export URDF and SRDF using the Composer API.

Semantic Data (SRDF)

Define planning groups, named poses, and collision filters for MoveIt.

Gazebo Integration

Configure Gazebo physics plugins.

Xacro Macros

Configure Xacro properties and mathematical expressions.