This folder contains the model for a traditional SCARA-type robot (i.e. 3R1P robot).
To see link dimensions and DH parameters, click here. You can also check the OnShape public project for this robot.
You can load the kinematic SCARA model by using the following command:
ros2 launch simple_robots scara.launch.py
It will setup the state publisher, scara simulator and RViz2 viewer.