February 2020
Intermediate to advanced
432 pages
10h 50m
English
Content preview from Hands-On ROS for Robotics Programming
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URDF robot body
A <link> element, as defined in the URDF XML specification (http://wiki.ros.org/urdf/XML/link), defines a rigid body with inertia, visual features, and collision properties. In this chapter, we will introduce <visual>. We will leave <inertia> and <collision> for later in this book since these properties are only required when performing physics simulation with Gazebo (see Chapter 5, Simulating Robot Behavior with Gazebo).
The <visual> tag describes the visual appearance of the part. Don't confuse this with the <collision> tag, as that defines the volume to be considered for interference or crash calculation. Often, both may define different volumes, although it is very common that they are in agreement.
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