An in-depth look at the interbotix_xsarm_descriptions ROS 2 package. The descriptions package contains xacros files and meshes for the Interbotix X-Series arms. The xsarm_descriptions launch file configures and generates the robot’s URDF and starts nodes that publish description and state information for other nodes to use.

Learning Outcomes
- Know the contents of the xsarm_descriptions package
- Understand how to launch the xsarm_descriptions package and how it fits into the overall structure of the ros_xsarms packages

Package Source: https://github.com/Interbotix/interbo...

Package Documentation: https://www.trossenrobotics.com/docs/...