raven_2_params

The raven_2_params package contains static configuration files for the Raven.

The params directory contains configuration files used by the raven_2_control package. The only file current in use in this directory is r2params.yaml, which contains controller gains and offsets for homing.

The data directory contains the robot model. The robot model is stored as several files. The main file is ravenII_source.urdf. This file contains the whole robot model. However, it does not get used directly. Instead, the script generate_urdf is run, and this produces three files: ravenII_gold_arm.urdf, ravenII_green_arm.urdf, and ravenII_both_arm.urdf. The first two files are for one-arm operation, and only contain the model for a single arm each. The various dae files contain the visualization data for the robot model.