Learning Robotics using Python - Second Edition

URDF tags and plugins for Gazebo simulation

We have seen the simulated robot in Gazebo. Now, we will look in more detail at the simulation-related tags in URDF and the various plugins we have included in the URDF model.

Most of the Gazebo-specific tags are in the chefbot_description/gazebo/chefbot.gazebo.xacro file. Also, some of the tags in chefbot_description/urdf/chefbot.xacro are used in the simulation. Defining the <collision> and <inertial> tags in chefbot.xacro is very important for our simulation. The <collision> tag in URDF defines a boundary around the robot link, which is mainly used to detect the collision of that particular link, whereas the <inertial> tag encompasses the mass of the link and the moment of inertia. Here is an ...