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== Overview ==
This package provides a URDF model of a generic quadrotor UAV. The visual geometry is provided as a COLLADA model and the collision geometry is provided as a STL mesh. The extensions/additions that allow the use of the model in gazebo simulation can be found in the [[hector_quadrotor_gazebo]] package.

== Available Models ==
Currently, the following models are available:
 * [[http://code.google.com/p/tu-darmstadt-ros-pkg/source/browse/trunk/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_base.urdf.xacro|quadrotor_base.urdf.xacro]] is the xacro macro for generating an instance of the quadrotor base (e.g. meshes, inertia etc.)
 * [[http://code.google.com/p/tu-darmstadt-ros-pkg/source/browse/trunk/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor.urdf.xacro|quadrotor.urdf.xacro]] provides a plain instance of the quadrotor base without additionally mounted sensors. This can be used for the 'robot_description' parameter.
 * [[http://code.google.com/p/tu-darmstadt-ros-pkg/source/browse/trunk/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_hokuyo_utm30lx.urdf.xacro|quadrotor_hokuyo_utm30lx.urdf.xacro]] provides a instance of the quadrotor base with additional sensors, a Hokuyo UTM-30LX LIDAR as well as a forward facing camera. This can be used for the 'robot_description' parameter.

This is a Blender render of the COLLADA quadrotor model:

{{attachment:hector_quadrotor_render.png||width=720}}

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