December 2016
Beginner to intermediate
468 pages
9h 43m
English
book
Effective Robotics Programming with ROS - Third Edition
by Luis Sanchez, Enrique Fernandez Perdomo, Anil Mahtani
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Creating our first URDF file
The robot that we are going to build in the following sections is a mobile robot with four wheels and an arm with a gripper.
To start with, we create the base of the robot with four wheels. Create a new file in the chapter4_tutorials/robot1_description/urdf folder with the name robot1.urdf, and enter the following code:
<?xml version="1.0"?> <robot name="Robot1"> <link name="base_link"> <visual> <geometry> <box size="0.2 .3 .1" /> </geometry> <origin rpy="0 0 0" xyz="0 0 0.05" /> <material name="white"> <color rgba="1 1 1 1" /> </material> </visual> </link> <link name="wheel_1"> <visual> <geometry> <cylinder length="0.05" radius="0.05" /> </geometry> <origin rpy="0 1.5 0" xyz="0.1 0.1 0" /> <material name="black"> <color ...
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I wanted to learn C and C++, but it didn't click for me until I picked up an O'Reilly book. When I went on the O’Reilly platform, I was astonished to find all the books there, plus live events and sandboxes so you could play around with the technology.Addison B.
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I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.