From 722f4e5b2767c962e396967b01a6e7ef65c94af9 Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Thu, 1 May 2025 19:33:54 +0300
Subject: [PATCH] initial commit

---
 CMakeLists.txt                             |     15 +
 config/gz_bridge.yaml                      |     25 +
 config/initial_positions.yaml              |     16 +
 launch/control.launch.py                   |     87 +
 launch/view_auboi5.launch.py               |    104 +
 meshes/aubo_i5/collision/base_link.STL     |    Bin 0 -> 20484 bytes
 meshes/aubo_i5/collision/foreArm_Link.STL  |    Bin 0 -> 1140884 bytes
 meshes/aubo_i5/collision/pedestal.STL      |    Bin 0 -> 596584 bytes
 meshes/aubo_i5/collision/shoulder_Link.STL |    Bin 0 -> 864684 bytes
 meshes/aubo_i5/collision/upperArm_Link.STL |    Bin 0 -> 1892484 bytes
 meshes/aubo_i5/collision/wrist1_Link.STL   |    Bin 0 -> 979084 bytes
 meshes/aubo_i5/collision/wrist2_Link.STL   |    Bin 0 -> 979084 bytes
 meshes/aubo_i5/collision/wrist3_Link.STL   |    Bin 0 -> 649584 bytes
 meshes/aubo_i5/visual/base_link.DAE        |   2741 +
 meshes/aubo_i5/visual/foreArm_Link.DAE     | 104421 +++++++++++
 meshes/aubo_i5/visual/shoulder_Link.DAE    |  65053 +++++++
 meshes/aubo_i5/visual/upperArm_Link.DAE    | 169660 ++++++++++++++++++
 meshes/aubo_i5/visual/wrist1_Link.DAE      |  85832 +++++++++
 meshes/aubo_i5/visual/wrist2_Link.DAE      |  80753 +++++++++
 meshes/aubo_i5/visual/wrist3_Link.DAE      |  68028 +++++++
 package.xml                                |     19 +
 rviz/view_auboi5.rviz                      |    195 +
 urdf/aubo.gazebo.xacro                     |     74 +
 urdf/aubo.transmission.xacro               |     68 +
 urdf/aubo_i5.urdf                          |    220 +
 urdf/aubo_i5.urdf.xacro                    |    250 +
 urdf/aubo_i5_dh_ag95.urdf.xacro            |    255 +
 urdf/common.gazebo.xacro                   |     11 +
 urdf/materials.xacro                       |     26 +
 urdf/ros2_control.xacro                    |     70 +
 urdf/xacro_args.yaml                       |      1 +
 world/world.sdf                            |     67 +
 32 files changed, 577991 insertions(+)
 create mode 100644 CMakeLists.txt
 create mode 100644 config/gz_bridge.yaml
 create mode 100644 config/initial_positions.yaml
 create mode 100644 launch/control.launch.py
 create mode 100644 launch/view_auboi5.launch.py
 create mode 100755 meshes/aubo_i5/collision/base_link.STL
 create mode 100755 meshes/aubo_i5/collision/foreArm_Link.STL
 create mode 100644 meshes/aubo_i5/collision/pedestal.STL
 create mode 100755 meshes/aubo_i5/collision/shoulder_Link.STL
 create mode 100755 meshes/aubo_i5/collision/upperArm_Link.STL
 create mode 100755 meshes/aubo_i5/collision/wrist1_Link.STL
 create mode 100755 meshes/aubo_i5/collision/wrist2_Link.STL
 create mode 100755 meshes/aubo_i5/collision/wrist3_Link.STL
 create mode 100755 meshes/aubo_i5/visual/base_link.DAE
 create mode 100755 meshes/aubo_i5/visual/foreArm_Link.DAE
 create mode 100755 meshes/aubo_i5/visual/shoulder_Link.DAE
 create mode 100755 meshes/aubo_i5/visual/upperArm_Link.DAE
 create mode 100755 meshes/aubo_i5/visual/wrist1_Link.DAE
 create mode 100755 meshes/aubo_i5/visual/wrist2_Link.DAE
 create mode 100644 meshes/aubo_i5/visual/wrist3_Link.DAE
 create mode 100644 package.xml
 create mode 100644 rviz/view_auboi5.rviz
 create mode 100755 urdf/aubo.gazebo.xacro
 create mode 100755 urdf/aubo.transmission.xacro
 create mode 100755 urdf/aubo_i5.urdf
 create mode 100644 urdf/aubo_i5.urdf.xacro
 create mode 100644 urdf/aubo_i5_dh_ag95.urdf.xacro
 create mode 100755 urdf/common.gazebo.xacro
 create mode 100644 urdf/materials.xacro
 create mode 100644 urdf/ros2_control.xacro
 create mode 100644 urdf/xacro_args.yaml
 create mode 100644 world/world.sdf

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..244e8d4
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.5)
+project(aubo_ros2_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY config launch meshes rviz urdf world
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()
diff --git a/config/gz_bridge.yaml b/config/gz_bridge.yaml
new file mode 100644
index 0000000..3c637b5
--- /dev/null
+++ b/config/gz_bridge.yaml
@@ -0,0 +1,25 @@
+- topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+
+# - topic_name: "/rgbd_camera/image/image"
+#   ros_type_name: "sensor_msgs/msg/Image"
+#   gz_type_name: "gz.msgs.Image"
+#   direction: GZ_TO_ROS
+#
+# - topic_name: "/rgbd_camera/image/depth_image"
+#   ros_type_name: "sensor_msgs/msg/Image"
+#   gz_type_name: "gz.msgs.Image"
+#   direction: GZ_TO_ROS
+#
+# - topic_name: "/rgbd_camera/image/camera_info"
+#   ros_type_name: "sensor_msgs/msg/CameraInfo"
+#   gz_type_name: "gz.msgs.CameraInfo"
+#   direction: GZ_TO_ROS
+
+# TODO: add static TF publishing of the camera frame
+# - topic_name: "/rgbd_camera/image/points"
+#   ros_type_name: "sensor_msgs/msg/PointCloud2"
+#   gz_type_name: "gz.msgs.PointCloudPacked"
+#   direction: GZ_TO_ROS
diff --git a/config/initial_positions.yaml b/config/initial_positions.yaml
new file mode 100644
index 0000000..f777935
--- /dev/null
+++ b/config/initial_positions.yaml
@@ -0,0 +1,16 @@
+joint_state_publisher:
+    ros__parameters:
+        joints:
+            - shoulder_joint
+            - upperArm_joint
+            - foreArm_joint
+            - wrist1_joint
+            - wrist2_joint
+            - wrist3_joint
+        joint_positions:
+            - 0.0
+            - 0.0
+            - 1.57
+            - 0.0
+            - 0.0
+            - 0.0
diff --git a/launch/control.launch.py b/launch/control.launch.py
new file mode 100644
index 0000000..91ab0b9
--- /dev/null
+++ b/launch/control.launch.py
@@ -0,0 +1,87 @@
+from launch_ros.actions import Node
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+
+# from launch.conditions import IfCondition, UnlessCondition
+from launch.substitutions import LaunchConfiguration
+
+
+def create_spawner(controller_name, namespace, condition=None, inactive=False):
+    args = [controller_name, "-c", f"{namespace}/controller_manager"]
+    if inactive:
+        args.append("--inactive")
+    return Node(
+        package="controller_manager",
+        executable="spawner",
+        namespace=namespace,
+        arguments=args,
+        condition=condition,
+    )
+
+
+def launch_setup(context, *args, **kwargs):
+    namespace = LaunchConfiguration("namespace").perform(context)
+    control_strategy = LaunchConfiguration("control_strategy").perform(context)
+    control_space = LaunchConfiguration("control_space").perform(context)
+    has_gripper = LaunchConfiguration("has_gripper").perform(context)
+    interactive_control = LaunchConfiguration("interactive_control").perform(context)
+
+    controllers_config = {
+        "joint_state_broadcaster": True,
+        "gripper_controller": has_gripper == "true",
+        "joint_trajectory_controller": control_strategy == "position"
+        and control_space == "joint",
+        "cartesian_motion_controller": control_strategy == "position"
+        and control_space == "task",
+        "cartesian_force_controller": control_strategy == "effort"
+        and control_space == "task",
+        "joint_effort_controller": control_strategy == "effort"
+        and control_space == "joint",
+        "force_torque_sensor_broadcaster": control_strategy == "effort"
+        and control_space == "task",
+        "motion_control_handle": interactive_control == "true"
+        and control_space == "task"
+        and control_strategy == "position",
+    }
+
+    nodes_to_start = []
+    for controller_name, should_start in controllers_config.items():
+        if should_start:
+            nodes_to_start.append(create_spawner(controller_name, namespace))
+
+    return nodes_to_start
+
+
+def generate_launch_description():
+    declared_arguments = [
+        DeclareLaunchArgument(
+            "namespace", default_value="", description="A robot's namespace"
+        ),
+        DeclareLaunchArgument(
+            "control_space",
+            default_value="task",
+            choices=["task", "joint"],
+            description="Control type: 'task' for Cartesian, 'joint' for joint space control.",
+        ),
+        DeclareLaunchArgument(
+            "control_strategy",
+            default_value="position",
+            choices=["position", "velocity", "effort"],
+            description="Control strategy: 'position', 'velocity', or 'effort'.",
+        ),
+        DeclareLaunchArgument(
+            "has_gripper",
+            default_value="true",
+            description="Whether to activate the gripper_controller.",
+        ),
+
+        DeclareLaunchArgument(
+            "interactive_control",
+            default_value="true",
+            description="Whether to activate the gripper_controller.",
+        ),
+    ]
+
+    return LaunchDescription(
+        declared_arguments + [OpaqueFunction(function=launch_setup)]
+    )
diff --git a/launch/view_auboi5.launch.py b/launch/view_auboi5.launch.py
new file mode 100644
index 0000000..48e43e0
--- /dev/null
+++ b/launch/view_auboi5.launch.py
@@ -0,0 +1,104 @@
+
+import os
+import yaml
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition
+from launch.substitutions import (
+    Command,
+    FindExecutable,
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+def load_yaml(package_name, file_path):
+    package_path = get_package_share_directory(package_name)
+    absolute_file_path = os.path.join(package_path, file_path)
+
+    try:
+        with open(absolute_file_path, "r") as file:
+            return yaml.safe_load(file)
+    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
+        return None
+
+
+def generate_launch_description():
+    pkg_share = FindPackageShare("aubo_ros2_description")
+    default_rviz_config_path = PathJoinSubstitution(
+        [pkg_share, "rviz", "view_rizon.rviz"]
+    )
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [FindPackageShare("aubo_ros2_description"), "urdf", "aubo_i5.urdf.xacro"]
+            ),
+            " ",
+            "name:=",
+            "aubo_i5",
+        ]
+    )
+
+    # Robot state publisher
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        output="screen",
+        parameters=[{"robot_description": robot_description_content}],
+    )
+
+    # package_path = get_package_share_directory("aubo_ros2_description")
+    # joint_state_publisher_node = Node(
+    #     package="joint_state_publisher",
+    #     executable="joint_state_publisher",
+    #     name="joint_state_publisher",
+    #     parameters=[package_path + "/config/initial_positions.yaml"],
+    #     # condition=UnlessCondition(LaunchConfiguration("gui")),
+    # )
+
+    # joint_state_publisher_gui_node = Node(
+    #     package="joint_state_publisher_gui",
+    #     executable="joint_state_publisher_gui",
+    #     name="joint_state_publisher_gui",
+    #     condition=IfCondition(LaunchConfiguration("gui")),
+    # )
+
+    # RViz
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="screen",
+        arguments=["-d", LaunchConfiguration("rvizconfig")],
+    )
+
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                name="aubo_type",
+                default_value="aubo_i5",
+                description="Type of the aubo robot.",
+                choices=["aubo_i3", "aubo_i5", "aubo_i10"],
+            ),
+            DeclareLaunchArgument(
+                name="gui",
+                default_value="False",
+                description="Flag to enable joint_state_publisher_gui",
+            ),
+            DeclareLaunchArgument(
+                name="rvizconfig",
+                default_value=default_rviz_config_path,
+                description="Absolute path to rviz config file",
+            ),
+            robot_state_publisher_node,
+            # joint_state_publisher_node,
+            # joint_state_publisher_gui_node,
+            rviz_node,
+        ]
+    )
diff --git a/meshes/aubo_i5/collision/base_link.STL b/meshes/aubo_i5/collision/base_link.STL
new file mode 100755
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diff --git a/meshes/aubo_i5/collision/pedestal.STL b/meshes/aubo_i5/collision/pedestal.STL
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diff --git a/meshes/aubo_i5/collision/shoulder_Link.STL b/meshes/aubo_i5/collision/shoulder_Link.STL
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diff --git a/meshes/aubo_i5/collision/upperArm_Link.STL b/meshes/aubo_i5/collision/upperArm_Link.STL
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diff --git a/meshes/aubo_i5/collision/wrist1_Link.STL b/meshes/aubo_i5/collision/wrist1_Link.STL
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diff --git a/meshes/aubo_i5/collision/wrist2_Link.STL b/meshes/aubo_i5/collision/wrist2_Link.STL
new file mode 100755
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diff --git a/meshes/aubo_i5/collision/wrist3_Link.STL b/meshes/aubo_i5/collision/wrist3_Link.STL
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diff --git a/meshes/aubo_i5/visual/base_link.DAE b/meshes/aubo_i5/visual/base_link.DAE
new file mode 100755
index 0000000..f6007bc
--- /dev/null
+++ b/meshes/aubo_i5/visual/base_link.DAE
@@ -0,0 +1,2741 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-03-08T01:05:28Z</created><keywords></keywords><modified>2018-03-08T01:05:28Z</modified><revision></revision><subject></subject><title></title><unit meter="1.000000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_materials>
+    <material id="_02 - Default" name="_02 - Default">
+      <instance_effect url="#_02 - Default-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="_02 - Default-fx" name="_02 - Default">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
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diff --git a/meshes/aubo_i5/visual/foreArm_Link.DAE b/meshes/aubo_i5/visual/foreArm_Link.DAE
new file mode 100755
index 0000000..d07c68b
--- /dev/null
+++ b/meshes/aubo_i5/visual/foreArm_Link.DAE
@@ -0,0 +1,104421 @@
+<?xml version="1.0" encoding="utf-8"?>
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+          <technique_common>
+            <accessor source="#NONE-DC_Shell_ncl1_9-UV0-array" count="850" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="NONE-DC_Shell_ncl1_9-VERTEX">
+          <input semantic="POSITION" source="#NONE-DC_Shell_ncl1_9-POSITION"/>
+        </vertices>
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diff --git a/meshes/aubo_i5/visual/shoulder_Link.DAE b/meshes/aubo_i5/visual/shoulder_Link.DAE
new file mode 100755
index 0000000..adf463e
--- /dev/null
+++ b/meshes/aubo_i5/visual/shoulder_Link.DAE
@@ -0,0 +1,65053 @@
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diff --git a/meshes/aubo_i5/visual/upperArm_Link.DAE b/meshes/aubo_i5/visual/upperArm_Link.DAE
new file mode 100755
index 0000000..083e314
--- /dev/null
+++ b/meshes/aubo_i5/visual/upperArm_Link.DAE
@@ -0,0 +1,169660 @@
+<?xml version="1.0" encoding="utf-8"?>
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diff --git a/meshes/aubo_i5/visual/wrist1_Link.DAE b/meshes/aubo_i5/visual/wrist1_Link.DAE
new file mode 100755
index 0000000..c6403d3
--- /dev/null
+++ b/meshes/aubo_i5/visual/wrist1_Link.DAE
@@ -0,0 +1,85832 @@
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+</float_array>
+          <technique_common>
+            <accessor source="#NONE-DC_Shell-UV0-array" count="3353" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="NONE-DC_Shell-VERTEX">
+          <input semantic="POSITION" source="#NONE-DC_Shell-POSITION"/>
+        </vertices>
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diff --git a/meshes/aubo_i5/visual/wrist2_Link.DAE b/meshes/aubo_i5/visual/wrist2_Link.DAE
new file mode 100755
index 0000000..0af7147
--- /dev/null
+++ b/meshes/aubo_i5/visual/wrist2_Link.DAE
@@ -0,0 +1,80753 @@
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="DirectConnectNode_7-DC_Shell-VERTEX">
+          <input semantic="POSITION" source="#DirectConnectNode_7-DC_Shell-POSITION"/>
+        </vertices>
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+</float_array>
+          <technique_common>
+            <accessor source="#NONE-DC_Shell_ncl1_3-UV0-array" count="8192" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="NONE-DC_Shell_ncl1_3-VERTEX">
+          <input semantic="POSITION" source="#NONE-DC_Shell_ncl1_3-POSITION"/>
+        </vertices>
+        <triangles count="10774" material="_02 - Default"><input semantic="VERTEX" offset="0" source="#NONE-DC_Shell_ncl1_3-VERTEX"/><input semantic="NORMAL" offset="1" source="#NONE-DC_Shell_ncl1_3-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#NONE-DC_Shell_ncl1_3-UV0"/><p> 21 0 21 22 1 22 23 2 23 12 3 12 0 4 0 1 5 1 4 6 4 2 7 2 3 8 3 8 9 8 4 10 4 5 11 5 9 12 9 6 13 6 7 14 7 24 15 24 2 16 2 4 17 4 25 18 25 8 19 8 14 20 14 21 21 21 0 22 0 12 23 12 26 24 26 9 25 9 19 26 19 25 27 25 24 28 24 4 29 4 27 30 27 10 31 10 28 32 28 27 33 27 16 34 16 29 35 29 30 36 30 13 37 13 29 38 29 30 39 30 18 40 18 31 41 31 32 42 32 15 43 15 31 44 31 32 45 32 20 46 20 33 47 33 34 48 34 17 49 17 33 50 33 34 51 34 11 52 11 23 53 23 22 54 22 6 55 6 26 56 26 24 57 24 28 58 28 10 59 10 28 60 28 25 61 25 14 62 14 24 63 24 25 64 25 28 65 28 2 66 2 24 67 24 10 68 10 8 69 8 25 70 25 4 71 4 23 72 23 22 73 22 19 74 19 21 75 21 23 76 23 11 77 11 22 78 22 21 79 21 12 80 12 0 81 0 21 82 21 11 83 11 22 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diff --git a/meshes/aubo_i5/visual/wrist3_Link.DAE b/meshes/aubo_i5/visual/wrist3_Link.DAE
new file mode 100644
index 0000000..94708df
--- /dev/null
+++ b/meshes/aubo_i5/visual/wrist3_Link.DAE
@@ -0,0 +1,68028 @@
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+</float_array>
+          <technique_common>
+            <accessor source="#NONE-DC_Shell_ncl1_10-UV0-array" count="12092" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="NONE-DC_Shell_ncl1_10-VERTEX">
+          <input semantic="POSITION" source="#NONE-DC_Shell_ncl1_10-POSITION"/>
+        </vertices>
+        <triangles count="8576" material="_03 - Default"><input semantic="VERTEX" offset="0" source="#NONE-DC_Shell_ncl1_10-VERTEX"/><input semantic="NORMAL" offset="1" source="#NONE-DC_Shell_ncl1_10-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#NONE-DC_Shell_ncl1_10-UV0"/><p> 57 0 57 0 1 0 5 2 5 52 3 52 1 4 1 2 5 2 30 6 30 3 7 3 4 8 4 7 9 7 5 10 5 6 11 6 7 12 7 57 13 57 5 14 5 8 15 8 57 16 57 7 17 7 8 18 8 58 19 58 57 20 57 9 21 9 58 22 58 8 23 8 10 24 10 58 25 58 9 26 9 10 27 10 59 28 59 58 29 58 11 30 11 59 31 59 10 32 10 11 33 11 60 34 60 59 35 59 12 36 12 60 37 60 11 38 11 12 39 12 61 40 61 60 41 60 13 42 13 61 43 61 12 44 12 13 45 13 62 46 62 61 47 61 14 48 14 62 49 62 13 50 13 14 51 14 63 52 63 62 53 62 15 54 15 63 55 63 14 56 14 15 57 15 64 58 64 63 59 63 16 60 16 64 61 64 15 62 15 17 63 17 64 64 64 16 65 16 17 66 17 65 67 65 64 68 64 18 69 18 65 70 65 17 71 17 18 72 18 66 73 66 65 74 65 19 75 19 66 76 66 18 77 18 19 78 19 67 79 67 66 80 66 20 81 20 67 82 67 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+      <node name="Link6" id="Link6" sid="Link6"><translate sid="translate">0.000066 0.000481 0.000000</translate><scale sid="scale">0.001000 0.001000 0.001000</scale><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="Link6_ncl1_1" id="Link6_ncl1_1" sid="Link6_ncl1_1"><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name=" " id=" " sid=" "><translate sid="translate">0.000000 0.000000 -6.000000</translate><rotate sid="rotateZ">0 0 1 179.999995</rotate><rotate sid="rotateX">1 0 0 179.999995</rotate><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="AND_1" id="AND_1" sid="AND_1"><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="AND_1_ncl1_1" id="AND_1_ncl1_1" sid="AND_1_ncl1_1"><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name=" _ncl1_1" id=" _ncl1_1" sid=" _ncl1_1"><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="ANDB_1" id="ANDB_1" sid="ANDB_1"><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="ANDB_1_ncl1_1" id="ANDB_1_ncl1_1" sid="ANDB_1_ncl1_1"><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="ANDB_1_ncl1_2" id="ANDB_1_ncl1_2" sid="ANDB_1_ncl1_2"><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="NONE" id="NONE" sid="NONE"><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="" id="" sid=""><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="-6" id="-6" layer="" sid="-6"><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="NONE_ncl1_1" id="NONE_ncl1_1" layer="" sid="NONE_ncl1_1"><translate sid="translate">0.000000 0.000000 -6.000000</translate><rotate sid="rotateZ">0 0 1 179.999995</rotate><rotate sid="rotateX">1 0 0 179.999995</rotate><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="NONE_ncl1_2" id="NONE_ncl1_2" layer="" sid="NONE_ncl1_2"><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="NONE-DC_Shell" id="NONE-DC_Shell" layer="" sid="NONE-DC_Shell"><instance_geometry url="#NONE-DC_Shell-lib"/><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node><node name="NONE-DC_Shell_ncl1_1" id="NONE-DC_Shell_ncl1_1" layer="" sid="NONE-DC_Shell_ncl1_1"><instance_geometry url="#NONE-DC_Shell_ncl1_1-lib"/><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node><node name="NONE-DC_Shell_ncl1_2" id="NONE-DC_Shell_ncl1_2" layer="" sid="NONE-DC_Shell_ncl1_2"><instance_geometry url="#NONE-DC_Shell_ncl1_2-lib"/><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node><node name="NONE-DC_Shell_ncl1_3" id="NONE-DC_Shell_ncl1_3" layer="" sid="NONE-DC_Shell_ncl1_3"><instance_geometry url="#NONE-DC_Shell_ncl1_3-lib"/><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node><node name="NONE-DC_Shell_ncl1_4" id="NONE-DC_Shell_ncl1_4" layer="" sid="NONE-DC_Shell_ncl1_4"><instance_geometry url="#NONE-DC_Shell_ncl1_4-lib"/><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node><node name="NONE-DC_Shell_ncl1_5" id="NONE-DC_Shell_ncl1_5" layer="" sid="NONE-DC_Shell_ncl1_5"><instance_geometry url="#NONE-DC_Shell_ncl1_5-lib"><bind_material><technique_common><instance_material symbol="_02 - 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+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Link6"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..d1969a7
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>aubo_ros2_description</name>
+  <version>1.0.0</version>
+  <description>the aubo description</description>
+  <maintainer email="834031119@qq.com">Shaosong</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <gazebo_ros gazebo_model_path="${prefix}/../"/>
+  </export>
+</package>
diff --git a/rviz/view_auboi5.rviz b/rviz/view_auboi5.rviz
new file mode 100644
index 0000000..0f67201
--- /dev/null
+++ b/rviz/view_auboi5.rviz
@@ -0,0 +1,195 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1/Description Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 634
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        flange:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2.4956274032592773
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.10040300339460373
+        Y: 0.27989906072616577
+        Z: 0.3314317762851715
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7053980827331543
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.313577651977539
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 863
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000305fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000305000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000305fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000305000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003cf0000030500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1600
+  X: 1920
+  Y: 0
diff --git a/urdf/aubo.gazebo.xacro b/urdf/aubo.gazebo.xacro
new file mode 100755
index 0000000..bd09f88
--- /dev/null
+++ b/urdf/aubo.gazebo.xacro
@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find aubo_ros2_description)/urdf/materials.xacro" />
+ 
+  <xacro:macro name="aubo_arm_gazebo" params="prefix">
+
+     <!--base_Link-->
+     <gazebo reference = "${prefix}base_Link">
+	<material>Gazebo/Black</material>
+     </gazebo>
+
+     <!--shoulder_Link-->
+     <gazebo reference = "${prefix}shoulder_Link">
+	<material>Gazebo/Orange</material>
+     </gazebo>
+
+     <!--s_Link-->
+     <gazebo reference = "${prefix}s_Link">
+	<material>Gazebo/Black</material>
+     </gazebo>
+
+     <!--upperArm_Link-->
+     <gazebo reference = "${prefix}upperArm_Link">
+	<material>Gazebo/Orange</material>
+     </gazebo>
+
+     <!--f1_Link-->
+     <gazebo reference = "${prefix}f1_Link">
+	<material>Gazebo/Black</material>
+     </gazebo>
+
+     <!--foreArm_Link-->
+     <gazebo reference = "${prefix}foreArm_Link">
+	<material>Gazebo/Orange</material>
+     </gazebo>
+
+     <!--u_Link-->
+     <gazebo reference = "${prefix}u_Link">
+	<material>Gazebo/Black</material>
+     </gazebo>
+
+     <!--wrist1_Link-->
+     <gazebo reference = "${prefix}wrist1_Link">
+	<material>Gazebo/Orange</material>
+     </gazebo>
+
+     <!--w1_Link-->
+     <gazebo reference = "${prefix}w1_Link">
+	<material>Gazebo/Black</material>
+     </gazebo>
+
+     <!--wrist2_Link-->
+     <gazebo reference = "${prefix}wrist2_Link">
+	<material>Gazebo/Orange</material>
+     </gazebo>
+
+     <!--w2_Link-->
+     <gazebo reference = "${prefix}w2_Link">
+	<material>Gazebo/Black</material>
+     </gazebo>
+
+     <!--wrist3_Link-->
+     <gazebo reference = "${prefix}wrist3_Link">
+	<material>Gazebo/Black</material>
+     </gazebo>
+
+     <!--pedestal_Link-->
+     <gazebo reference = "${prefix}pedestal_Link">
+	<material>Gazebo/Green</material>
+     </gazebo>
+
+  </xacro:macro>
+</robot>
diff --git a/urdf/aubo.transmission.xacro b/urdf/aubo.transmission.xacro
new file mode 100755
index 0000000..53c48db
--- /dev/null
+++ b/urdf/aubo.transmission.xacro
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="aubo_arm_transmission" params="prefix">
+
+    <transmission name="${prefix}shoulder_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}shoulder_joint">
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}shoulder_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+  
+    <transmission name="${prefix}foreArm_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}foreArm_joint">
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}foreArm_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+  
+    <transmission name="${prefix}upperArm_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}upperArm_joint">
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}upperArm_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+  
+    <transmission name="${prefix}wrist1_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}wrist1_joint">
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}wrist1_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+  
+    <transmission name="${prefix}wrist2_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}wrist2_joint">
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}wrist2_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+  
+    <transmission name="${prefix}wrist3_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}wrist3_joint">
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}wrist3_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+  </xacro:macro>
+
+</robot>
diff --git a/urdf/aubo_i5.urdf b/urdf/aubo_i5.urdf
new file mode 100755
index 0000000..8a5c229
--- /dev/null
+++ b/urdf/aubo_i5.urdf
@@ -0,0 +1,220 @@
+<?xml version="1.0"?>
+<robot  name="aubo_i5">
+
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-1.4795E-13 0.0015384 0.020951" rpy="0 0 0" />
+      <mass value="0.83419" />
+      <inertia ixx="0.0014414" ixy="7.8809E-15" ixz="8.5328E-16" iyy="0.0013542" iyz="-1.4364E-05" izz="0.0024659" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/base_link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="shoulder_Link">
+    <inertial>
+      <origin xyz="3.2508868974735E-07 0.00534955349296065 -0.00883689325611056" rpy="0 0 0" />
+      <mass value="1.57658348693929" />
+      <inertia ixx="0.0040640448663128" ixy="0" ixz="0" iyy="0.00392863238466817" iyz="-0.000160151642851425" izz="0.0030869857349184" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="shoulder_joint" type="revolute">
+    <origin xyz="0 0 0.122" rpy="0 0 3.1416" />
+    <parent link="base_link" />
+    <child link="shoulder_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
+  </joint>
+
+  <link name="upperArm_Link">
+    <inertial>
+      <origin xyz="0.203996646979614 2.01304585036544E-10 0.0127641545395984" rpy="0 0 0" />
+      <mass value="4.04175782265494" />
+      <inertia ixx="0.00965399211106204" ixy="0" ixz="0" iyy="0.144993869035655" iyz="0" izz="0.142607184038966" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="upperArm_joint" type="revolute">
+    <origin xyz="0 0.1215 0" rpy="-1.5708 -1.5708 0" />
+    <parent link="shoulder_Link" />
+    <child link="upperArm_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
+  </joint>
+
+  <link name="foreArm_Link">
+    <inertial>
+      <origin xyz="0.188922115560337 6.78882434739072E-07 0.0981026740461557" rpy="0 0 0" />
+      <mass  value="2.27145669098343" />
+      <inertia ixx="0.00214322284946289" ixy="0" ixz="-0.00073120631553383" iyy="0.0443926090878205" iyz="0" izz="0.0441273797128365" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="foreArm_joint" type="revolute">
+    <origin xyz="0.408 0 0" rpy="-3.1416 -5.1632E-18 -5.459E-16" />
+    <parent link="upperArm_Link" />
+    <child link="foreArm_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
+  </joint>
+
+  <link name="wrist1_Link">
+    <inertial>
+      <origin xyz="7.54205137428592E-07 0.0062481254331257 -0.00392367464072373" rpy="0 0 0" />
+      <mass value="0.500477539188764" />
+      <inertia ixx="0.00071194605962081" ixy="0" ixz="0" iyy="0.00040588242872958" iyz="-2.30808694377512E-05" izz="0.000685574004861334" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="wrist1_joint" type="revolute">
+    <origin xyz="0.376 0 0" rpy="3.1416 -1.8323E-15 1.5708" />
+    <parent link="foreArm_Link" />
+    <child link="wrist1_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
+  </joint>
+
+  <link name="wrist2_Link">
+    <inertial>
+      <origin xyz="-7.54207620578635E-07 -0.00624812542617262 -0.00392367464115684" rpy="0 0 0" />
+      <mass value="0.500477539245988" />
+      <inertia ixx="0.00071194605981829" ixy="0" ixz="0" iyy="0.000405882428755442" iyz="2.30808694515886E-05" izz="0.000685574005112107" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="wrist2_joint" type="revolute">
+    <origin xyz="0 0.1025 0" rpy="-1.5708 -1.8709E-15 -1.6653E-16" />
+    <parent link="wrist1_Link" />
+    <child link="wrist2_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
+  </joint>
+
+  <link name="wrist3_Link">
+    <inertial>
+      <origin xyz="3.92048778449938E-10 0.000175788057281467 -0.0213294490706684" rpy="0 0 0" />
+      <mass value="0.158309554874285" />
+      <inertia ixx="7.31376196034769E-05" ixy="0" ixz="0" iyy="7.19528188876563E-05" iyz="0" izz="0.000108772439051422" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="wrist3_joint" type="revolute">
+    <origin xyz="0 -0.094 0" rpy="1.5708 0 1.7907E-15" />
+    <parent link="wrist2_Link" />
+    <child link="wrist3_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
+  </joint>
+
+  <link name="world" />
+
+  <joint name="world_joint" type="fixed">
+    <parent link="world" />
+    <child link = "base_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </joint>
+</robot>
diff --git a/urdf/aubo_i5.urdf.xacro b/urdf/aubo_i5.urdf.xacro
new file mode 100644
index 0000000..1704655
--- /dev/null
+++ b/urdf/aubo_i5.urdf.xacro
@@ -0,0 +1,250 @@
+<?xml version="1.0"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from aubo_i5L.urdf                  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+
+<robot name="aubo_i5" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="$(find aubo_ros2_description)/urdf/aubo.transmission.xacro" />
+  <xacro:include filename="$(find aubo_ros2_description)/urdf/materials.xacro" />
+  <xacro:include filename="$(find aubo_ros2_description)/urdf/ros2_control.xacro" />
+
+  <xacro:property name="hardware" value="gazebo" />
+
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-1.4795E-13 0.0015384 0.020951" rpy="0 0 0" />
+      <mass value="0.83419" />
+      <inertia ixx="0.0014414" ixy="7.8809E-15" ixz="8.5328E-16" iyy="0.0013542" iyz="-1.4364E-05"
+        izz="0.0024659" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/base_link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="shoulder_Link">
+    <inertial>
+      <origin xyz="3.2508868974735E-07 0.00534955349296065 -0.00883689325611056" rpy="0 0 0" />
+      <mass value="1.57658348693929" />
+      <inertia ixx="0.0040640448663128" ixy="0" ixz="0" iyy="0.00392863238466817"
+        iyz="-0.000160151642851425" izz="0.0030869857349184" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="shoulder_joint" type="revolute">
+    <origin xyz="0 0 0.122" rpy="0 0 3.1416" />
+    <parent link="base_link" />
+    <child link="shoulder_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="150" velocity="3.1416" />
+  </joint>
+
+  <link name="upperArm_Link">
+    <inertial>
+      <origin xyz="0.203996646979614 2.01304585036544E-10 0.0127641545395984" rpy="0 0 0" />
+      <mass value="4.04175782265494" />
+      <inertia ixx="0.00965399211106204" ixy="0" ixz="0" iyy="0.144993869035655" iyz="0"
+        izz="0.142607184038966" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="upperArm_joint" type="revolute">
+    <origin xyz="0 0.1215 0" rpy="-1.5708 -1.5708 0" />
+    <parent link="shoulder_Link" />
+    <child link="upperArm_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="150" velocity="3.1416" />
+  </joint>
+
+  <link name="foreArm_Link">
+    <inertial>
+      <origin xyz="0.188922115560337 6.78882434739072E-07 0.0981026740461557" rpy="0 0 0" />
+      <mass value="2.27145669098343" />
+      <inertia ixx="0.00214322284946289" ixy="0" ixz="-0.00073120631553383" iyy="0.0443926090878205"
+        iyz="0" izz="0.0441273797128365" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="foreArm_joint" type="revolute">
+    <origin xyz="0.408 0 0" rpy="-3.1416 -5.1632E-18 -5.459E-16" />
+    <parent link="upperArm_Link" />
+    <child link="foreArm_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="150" velocity="3.1416" />
+  </joint>
+
+  <link name="wrist1_Link">
+    <inertial>
+      <origin xyz="7.54205137428592E-07 0.0062481254331257 -0.00392367464072373" rpy="0 0 0" />
+      <mass value="0.500477539188764" />
+      <inertia ixx="0.00071194605962081" ixy="0" ixz="0" iyy="0.00040588242872958"
+        iyz="-2.30808694377512E-05" izz="0.000685574004861334" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="wrist1_joint" type="revolute">
+    <origin xyz="0.376 0 0" rpy="3.1416 -1.8323E-15 1.5708" />
+    <parent link="foreArm_Link" />
+    <child link="wrist1_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="28" velocity="3.1416" />
+  </joint>
+
+  <link name="wrist2_Link">
+    <inertial>
+      <origin xyz="-7.54207620578635E-07 -0.00624812542617262 -0.00392367464115684" rpy="0 0 0" />
+      <mass value="0.500477539245988" />
+      <inertia ixx="0.00071194605981829" ixy="0" ixz="0" iyy="0.000405882428755442"
+        iyz="2.30808694515886E-05" izz="0.000685574005112107" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="wrist2_joint" type="revolute">
+    <origin xyz="0 0.1025 0" rpy="-1.5708 -1.8709E-15 -1.6653E-16" />
+    <parent link="wrist1_Link" />
+    <child link="wrist2_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="28" velocity="3.1416" />
+  </joint>
+
+  <link name="wrist3_Link">
+    <inertial>
+      <origin xyz="3.92048778449938E-10 0.000175788057281467 -0.0213294490706684" rpy="0 0 0" />
+      <mass value="0.158309554874285" />
+      <inertia ixx="7.31376196034769E-05" ixy="0" ixz="0" iyy="7.19528188876563E-05" iyz="0"
+        izz="0.000108772439051422" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="wrist3_joint" type="revolute">
+    <origin xyz="0 -0.094 0" rpy="1.5708 0 1.7907E-15" />
+    <parent link="wrist2_Link" />
+    <child link="wrist3_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="28" velocity="3.1416" />
+  </joint>
+
+  <link name="world" />
+
+  <joint name="world_joint" type="fixed">
+    <parent link="world" />
+    <child link="base_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </joint>
+
+  <xacro:aubo_ros2_control hardware="${hardware}" />
+  <xacro:if value="${hardware=='gazebo'}">
+    <gazebo>
+      <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+        <parameters>$(arg simulation_controllers)</parameters>
+        <!-- <ros> -->
+        <!--   <namespace>${namespace}</namespace> -->
+        <!-- </ros> -->
+      </plugin>
+    </gazebo>
+  </xacro:if>
+
+</robot>
diff --git a/urdf/aubo_i5_dh_ag95.urdf.xacro b/urdf/aubo_i5_dh_ag95.urdf.xacro
new file mode 100644
index 0000000..09f4e54
--- /dev/null
+++ b/urdf/aubo_i5_dh_ag95.urdf.xacro
@@ -0,0 +1,255 @@
+<?xml version="1.0"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from aubo_i5L.urdf                  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+
+<robot name="aubo_i5" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="$(find aubo_ros2_description)/urdf/aubo.transmission.xacro" />
+  <xacro:include filename="$(find aubo_ros2_description)/urdf/materials.xacro" />
+  <xacro:include filename="$(find aubo_ros2_description)/urdf/ros2_control.xacro" />
+  <xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95_macro.urdf.xacro" />
+
+  <xacro:property name="hardware" value="gazebo" />
+
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-1.4795E-13 0.0015384 0.020951" rpy="0 0 0" />
+      <mass value="0.83419" />
+      <inertia ixx="0.0014414" ixy="7.8809E-15" ixz="8.5328E-16" iyy="0.0013542" iyz="-1.4364E-05"
+        izz="0.0024659" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/base_link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="shoulder_Link">
+    <inertial>
+      <origin xyz="3.2508868974735E-07 0.00534955349296065 -0.00883689325611056" rpy="0 0 0" />
+      <mass value="1.57658348693929" />
+      <inertia ixx="0.0040640448663128" ixy="0" ixz="0" iyy="0.00392863238466817"
+        iyz="-0.000160151642851425" izz="0.0030869857349184" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="shoulder_joint" type="revolute">
+    <origin xyz="0 0 0.122" rpy="0 0 3.1416" />
+    <parent link="base_link" />
+    <child link="shoulder_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="150" velocity="3.1416" />
+  </joint>
+
+  <link name="upperArm_Link">
+    <inertial>
+      <origin xyz="0.203996646979614 2.01304585036544E-10 0.0127641545395984" rpy="0 0 0" />
+      <mass value="4.04175782265494" />
+      <inertia ixx="0.00965399211106204" ixy="0" ixz="0" iyy="0.144993869035655" iyz="0"
+        izz="0.142607184038966" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="upperArm_joint" type="revolute">
+    <origin xyz="0 0.1215 0" rpy="-1.5708 -1.5708 0" />
+    <parent link="shoulder_Link" />
+    <child link="upperArm_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="150" velocity="3.1416" />
+  </joint>
+
+  <link name="foreArm_Link">
+    <inertial>
+      <origin xyz="0.188922115560337 6.78882434739072E-07 0.0981026740461557" rpy="0 0 0" />
+      <mass value="2.27145669098343" />
+      <inertia ixx="0.00214322284946289" ixy="0" ixz="-0.00073120631553383" iyy="0.0443926090878205"
+        iyz="0" izz="0.0441273797128365" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="foreArm_joint" type="revolute">
+    <origin xyz="0.408 0 0" rpy="-3.1416 -5.1632E-18 -5.459E-16" />
+    <parent link="upperArm_Link" />
+    <child link="foreArm_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="150" velocity="3.1416" />
+  </joint>
+
+  <link name="wrist1_Link">
+    <inertial>
+      <origin xyz="7.54205137428592E-07 0.0062481254331257 -0.00392367464072373" rpy="0 0 0" />
+      <mass value="0.500477539188764" />
+      <inertia ixx="0.00071194605962081" ixy="0" ixz="0" iyy="0.00040588242872958"
+        iyz="-2.30808694377512E-05" izz="0.000685574004861334" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="wrist1_joint" type="revolute">
+    <origin xyz="0.376 0 0" rpy="3.1416 -1.8323E-15 1.5708" />
+    <parent link="foreArm_Link" />
+    <child link="wrist1_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="28" velocity="3.1416" />
+  </joint>
+
+  <link name="wrist2_Link">
+    <inertial>
+      <origin xyz="-7.54207620578635E-07 -0.00624812542617262 -0.00392367464115684" rpy="0 0 0" />
+      <mass value="0.500477539245988" />
+      <inertia ixx="0.00071194605981829" ixy="0" ixz="0" iyy="0.000405882428755442"
+        iyz="2.30808694515886E-05" izz="0.000685574005112107" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="wrist2_joint" type="revolute">
+    <origin xyz="0 0.1025 0" rpy="-1.5708 -1.8709E-15 -1.6653E-16" />
+    <parent link="wrist1_Link" />
+    <child link="wrist2_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="28" velocity="3.1416" />
+  </joint>
+
+  <link name="wrist3_Link">
+    <inertial>
+      <origin xyz="3.92048778449938E-10 0.000175788057281467 -0.0213294490706684" rpy="0 0 0" />
+      <mass value="0.158309554874285" />
+      <inertia ixx="7.31376196034769E-05" ixy="0" ixz="0" iyy="7.19528188876563E-05" iyz="0"
+        izz="0.000108772439051422" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="wrist3_joint" type="revolute">
+    <origin xyz="0 -0.094 0" rpy="1.5708 0 1.7907E-15" />
+    <parent link="wrist2_Link" />
+    <child link="wrist3_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="28" velocity="3.1416" />
+  </joint>
+
+  <link name="world" />
+
+  <joint name="world_joint" type="fixed">
+    <parent link="world" />
+    <child link="base_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </joint>
+
+  <xacro:dh_ag95_gripper prefix="" parent="wrist3_Link">
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </xacro:dh_ag95_gripper>
+
+  <xacro:aubo_ros2_control hardware="${hardware}" />
+  <xacro:if value="${hardware=='gazebo'}">
+    <gazebo>
+      <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+        <parameters>$(arg simulation_controllers)</parameters>
+        <!-- <ros> -->
+        <!--   <namespace>${namespace}</namespace> -->
+        <!-- </ros> -->
+      </plugin>
+    </gazebo>
+  </xacro:if>
+
+</robot>
diff --git a/urdf/common.gazebo.xacro b/urdf/common.gazebo.xacro
new file mode 100755
index 0000000..6bde933
--- /dev/null
+++ b/urdf/common.gazebo.xacro
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <gazebo>
+    <plugin name="ros_control" filename="libgazebo_ros_control.so">
+      <!--robotNamespace>/aubo_robot</robotNamespace-->
+      <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
+    </plugin>
+  </gazebo>
+
+</robot>
diff --git a/urdf/materials.xacro b/urdf/materials.xacro
new file mode 100644
index 0000000..9282ff8
--- /dev/null
+++ b/urdf/materials.xacro
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+   <material name="black">
+	<color rgba="0.25098 0.25098 0.25098 1"/>
+   </material>
+
+   <material name="orange">
+        <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
+   </material>
+
+   <material name="white">
+        <color rgba="0.68627 0.69804 0.67451 1"/>
+   </material>
+
+   <material name="grey">
+        <color rgba="0.2 0.2 0.2 1.0"/>
+   </material>
+
+   <material name="blue">
+        <color rgba="0.0 0.0 0.8 1.0"/>
+   </material>
+
+   <material name="green">
+        <color rgba="0.0 0.8 0.0 1.0"/>
+   </material>
+</robot>
diff --git a/urdf/ros2_control.xacro b/urdf/ros2_control.xacro
new file mode 100644
index 0000000..bacc160
--- /dev/null
+++ b/urdf/ros2_control.xacro
@@ -0,0 +1,70 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="aubo_ros2_control" params="hardware">
+    <ros2_control name="aubo_hardware_interface" type="system">
+      <hardware>
+        <xacro:if value="${hardware=='gazebo'}">
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+        </xacro:if>
+        <xacro:if value="${hardware=='mock'}">
+          <plugin>mock_components/GenericSystem</plugin>
+        </xacro:if>
+        <xacro:if value="${hardware=='real'}">
+          <plugin>aubo_ros2_control/AuboSystem</plugin>
+        </xacro:if>
+      </hardware>
+
+      <joint name="shoulder_joint">
+        <command_interface name="position" />
+        <command_interface name="velocity" />
+
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+      </joint>
+
+
+      <joint name="upperArm_joint">
+        <command_interface name="position" />
+        <command_interface name="velocity" />
+
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+      </joint>
+
+
+      <joint name="foreArm_joint">
+        <command_interface name="position" />
+        <command_interface name="velocity" />
+
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+      </joint>
+
+      <joint name="wrist1_joint">
+        <command_interface name="position" />
+        <command_interface name="velocity" />
+
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+      </joint>
+
+      <joint name="wrist2_joint">
+        <command_interface name="position" />
+        <command_interface name="velocity" />
+
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+      </joint>
+
+      <joint name="wrist3_joint">
+        <command_interface name="position" />
+        <command_interface name="velocity" />
+
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+      </joint>
+
+    </ros2_control>
+
+  </xacro:macro>
+</robot>
diff --git a/urdf/xacro_args.yaml b/urdf/xacro_args.yaml
new file mode 100644
index 0000000..b864ab7
--- /dev/null
+++ b/urdf/xacro_args.yaml
@@ -0,0 +1 @@
+simulation_controllers: !variable controllers_file
diff --git a/world/world.sdf b/world/world.sdf
new file mode 100644
index 0000000..bb612e6
--- /dev/null
+++ b/world/world.sdf
@@ -0,0 +1,67 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="aubo-world">
+    <physics name="1ms" type="dart">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>0</real_time_factor>
+    </physics>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-contact-system"
+      name="gz::sim::systems::Contact">
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+  </world>
+</sdf>