obstacles

Modular URDF primitives for generating customizable obstacle courses

Usage

• See the urdf/examples folder for a demo of how to assemble an obstacle using primitives
• Primitives (eg. staircases) are defined as self-contained macros that can be called in another file
• To call a macro, first include its filename, and then use <xacro:macro_name_here ... /> tag
• Obstacle courses can be defined outside of this package, since <xacro:include .../> can find any package that has been built in the current workspace
• The easilest way to visualize obstacles is using the URDF preview tool from the ROS VSCode extension, otherwise a launch file with rviz also works