Anki Vector and Cozmo

Universal Robot Description Files

To switch between Cozmo and Anki models change robot_type argument to:

vector or
cozmo

Models

different meshes for Vector and Cozmo
common base kinematics xacro
robot type specific camera and drop sensor xacros
standard gazebo plugins:
- IMU: libgazebo_ros_imu_sensor
- Camera: libgazebo_ros_camera
- Kinematics: libgazebo_ros_skid_steer_drive
- Cliff sensor: libgazebo_ros_range ( 1 for Cozmo 4 for Vector)
- NIR-TOF: libgazebo_ros_range (Vector only)