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 a more realistic description of our robotic model. As you can probably guess, since meshes are related with the geometric description of our model, the are added to the geometry child node of the visual node.

The robot we will develop is called Odisseus II. You can find a more detailed tutorial about Odisseus II description here.

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