Construct a robot model with URDF II

In a previous tutorial, we saw how to develop a robot model using the Unified Robot Description Format or URDF for short. We did so by developing a model for Odisseus a differential drive robot. In this post we will see how to add mesh files in our robot description. Meshes allow us to have … Continue reading Construct a robot model with URDF II

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Construct a robot model with URDF I

Simulating a robot in Gazebo requires a description of the robot model. One way to represent such a model, is to use the URDF format (standing for Unified Robot Description Format). The URDF format is simply an XML format that describes a robot, its parts, its joints, dimensions, and so on. Whenever you see a … Continue reading Construct a robot model with URDF I