Hands-On ROS for Robotics Programming

Gazebo tags

As we mentioned previously, <gazebo> tags are used to specify the additional elements to URDF that are needed within the native Gazebo format, SDF. In the gopigo.gazebo file under the URDF folder, you can find the following blocks of code, which specify the material for each link:

• The first is the robot body (base_link). This block specifies the color of the part, as well as its initial pose:

  <gazebo reference="base_link">    <material>Gazebo/Blue</material>    <pose>0 0 3 0 0 0</pose>  </gazebo>

• Next is the wheels. These blocks are only needed to specify the colors since the pose was defined in base_link:

  <gazebo reference="right_wheel">    <material>Gazebo/Black</material>  </gazebo>...  <gazebo reference="left_wheel"> <material>Gazebo/Black</material> ...