cubs2_description

URDF robot description and 3D meshes for the SportCub aircraft.

Files

URDF Model

urdf/sportcub.urdf - Robot description file defining:

Links (fuselage, wings, control surfaces)
Joints (control surface rotations)
Visual meshes
Collision geometry
Inertial properties

3D Meshes

meshes/ directory contains:

sportcub_body.dae - Fuselage and wings
sportcub_propeller.dae - Propeller (optional)
Texture files

Launch Files

robot_state_publisher.launch.py

Publishes TF transforms from URDF:

ros2 launch cubs2_description robot_state_publisher.launch.py

Usage

In RViz

Add RobotModel display
Set Robot Description topic: /robot_description
Visual representation will appear

In Launch Files

<node pkg="robot_state_publisher" exec="robot_state_publisher">
  <param name="robot_description"
         textfile="$(find-pkg-share cubs2_description)/urdf/sportcub.urdf"/>
</node>

Customization

Modify Visual Appearance

Edit urdf/sportcub.urdf:

<visual>
  <geometry>
    <mesh filename="package://cubs2_description/meshes/sportcub_body.dae"/>
  </geometry>
  <material name="blue">
    <color rgba="0 0 1 1"/>
  </material>
</visual>

Adjust Inertial Properties

Update mass and inertia tensor:

<inertial>
  <mass value="11.0"/>
  <inertia ixx="0.5" iyy="0.8" izz="1.2"
           ixy="0" ixz="0" iyz="0"/>
</inertial>

Dependencies

robot_state_publisher
xacro (if using xacro format)