📑 TM ROS2 version Jazzy or higher is strictly required to support the TM Cobots Series directory structure syntax.
This repository provides official ROS 2 description files (URDF/Xacro) and 3D meshes for the TM AI Cobot S and TM AI Cobot series. It supports various configurations, including Standard, Standard-X, FT, and FT-X modules for robot visualization (RViz2), simulation (Gazebo), and motion planning (MoveIt 2).
Detailed operational documentation is available in the TM_Cobots_ROS2_Description Usage Guideline.
Additionally, the following guide describes how to migrate these standalone description packages into a legacy tm2_ros2 workspace.
If you have already cloned the baseline repository via:
git clone https://github.com/TechmanRobotInc/tm2_ros2.git -b jazzyFollow these steps to deploy and activate your target planning profile:
- Verify Hardware Support: Expand the Supported Cobot Models Matrix below to confirm your specific model configuration.
- Deploy Configuration Profiles: Migrate the required standalone description packages into your active
tm2_ros2workspace (refer to the documentation assets and directory maps below). - Compile and Source: Rebuild the local workspace using standard
colconparameters and resource your environment variables to initiate development hooks.
💡 You can find the full list of downloadable cobot models in the table below:
👁️ Click to expand/collapse the Supported Cobot Models Matrix
The configuration matrix below maps all supported TM Robot Series models across Standard, Standard-X, FT, and FT-X variants:
| Series | Xacro Model Name | ||||
|---|---|---|---|---|---|
| Standard | Standard-X | FT | FT-X | ||
| TM AI Cobot S Series | TM5S | TM5S | TM5SX | TM5SFT | TM5SXFT |
| TM6S | TM6S | TM6SX | TM6SFT | TM6SXFT | |
| TM7S | TM7S | TM7SX | TM7SFT | TM7SXFT | |
| TM12S | TM12S | TM12SX | TM12SFT | TM12SXFT | |
| TM14S | TM14S | TM14SX | TM14SFT | TM14SXFT | |
| TM20S | TM20S | TM20SX | TM20SFT | TM20SXFT | |
| TM25S | TM25S | TM25SX | TM25SFT | TM25SXFT | |
| TM30S | TM30S | TM30SX | TM30SFT | TM30SXFT | |
| TM AI Cobot Series | TM5-700 | TM5-700 | TM5X-700 | — | — |
| TM5-900 | TM5-900 | TM5X-900 | — | — | |
| TM12 | TM12 | TM12X | — | — | |
| TM14 | TM14 | TM14X | — | — | |
| TM16 | TM16 | TM16X | — | — | |
| TM20 | TM20 | TM20X | — | — | |
This guide details the procedure for migrating specific 3D robot description files for the TM AI Cobot / Cobot S Series into a legacy or standard tm2_ros2 workspace using automated scripts. Alternatively, asset folders can be manually cloned and copied into their matching relative workspace paths.
Comprehensive path and script instructions are available in the Migration & Deployment Usage Guideline.
👁️ Click to expand/collapse the migration footprint overview
💡 Baseline Note: The default legacy repository bundles only the
tm12sandtm5-900asset profiles. All other alternative model profiles must be fetched from this standalone TM_Cobots_ROS2_Description repository.
Leverage the lightweight lite_ld.sh deployment script to extract and map target description suites directly into your active workspace.
📖 Review the Loader Script Documentation for detailed tool arguments.
To extract and deploy the kinematic description files (URDF/Xacro) for the tm12sxft profile:
./lite_ld.sh tm12sxft
👁️ Click to expand/collapse the Forced Overwrite example for alternative models
To fetch the tm5x-900 robot description files without any interactive terminal confirmation screens, use the force flag (-f). This will allow you to purge any conflicting local asset folders instantly.
./lite_ld.sh tm5x-900 -f