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Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

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Chapter 5. 3D Modeling and Simulation

Programming directly on a real robot gives us good feedback and it is more impressive than simulations, but not everybody has possible 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:

  • Create a 3D model of our robot
  • Provide movements, physical limits, inertia, and other physical aspects to our robot
  • 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, 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 that describes a robot, ...

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