YARO URDF checks
A C++17 / ROS 2 Jazzy package that loads the five public YARO cobot URDFs from YardStick Robotics and tests them: forward kinematics checked against KDL, a model audit, a comparison with the published data sheet and a joint limit monitor node, with GoogleTest and launch_testing suites in Docker. Code and full results: github.com/pavanyadava007/yaro-ros2-tests. Independent project, not affiliated with YardStick Robotics or Rheinmetall; no real robot was used.
Try the limit monitor
| joint | position (deg) | speed (deg/s) | URDF monitor | vs data sheet |
|---|
The last column applies the data sheet's range and maximum speed instead of the URDF's. Where the two sources disagree, the same state can pass one and fail the other.
Tests
Model audit
Reach = largest horizontal distance of ee_frame from the A1 axis over 200,000 random configurations inside the URDF limits (a lower bound). Warnings on every model: 14 mesh paths are relative (../meshes/stl/...) rather than package:// or file:// URIs, which ROS resource_retriever rejects; and the root link carries an inertia that KDL ignores.