Axioma is a four-wheel-drive autonomous mobile robot for industrial logistics, designed by Mario David Alvarez Vallejo and published as an open-source ROS 2 workspace. The same repository carries its SLAM, visual SLAM, sensor fusion, and navigation software, and a Gazebo simulation.
The mechanism
A rigid chassis carries four independently driven wheels (continuous joints), which steer the robot by skidding, the way a tracked vehicle turns, so there is no steering joint. The wheels are the four actuated degrees of freedom; there are no mimic joints and no closed kinematic loops. A 2D LiDAR, an IMU, and a ZED 2i stereo camera are mounted on fixed joints, so they add frames but no motion.
About this file — read before importing
The author’s description is xacro, not plain URDF, because the ZED 2i camera adds eight frames whose offsets are computed rather than typed out. This gallery entry links directly to the author’s own Axioma_robot repository, unmodified, and ARMOR expands the macros itself after downloading, so Open in ARMOR gives you a working robot.