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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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Chapter 4. 3D Modeling and Simulation

Programming directly on a real robot gives us good feedback and is more impressive than simulations, but not everybody has access to real robots. For this reason, we have programs that simulate the physical world.

In this chapter, we are going to learn how to do the following:

  • Create a 3D model of our robot
  • Provide movements, physical limits, inertia, and other physical aspects to our robot model
  • Add simulated sensors to our 3D model
  • Use the model on the simulator

A 3D model of our robot in ROS

The way ROS uses the 3D model of a robot or its parts, whether to simulate them or to simply help the developers in their daily work, is by means of the URDF files.

Unified Robot Description Format (URDF) is an XML format ...

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