Perseverance URDF (from OnShape)

[Sharwin24]

A script to run onshape-to-robot and convert the generated URDF file to a XACRO file to cleanly retrieve meshes and eventually define hardware constants (joint limits, mass properties, joint efforts, etc.). The OnShape assembly was created following the design considerations outlined by the onshape-to-robot documentation.

cd perseverance/urdf # From repo root
python3 create_urdf_and_xacro.py

• Edited RViz config to view the frames and keep base_link as the fixed frame for visualizing the robot.
• Launched RSP and JSP nodes with the xacro file to visualize joints and attach them to joint states

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