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Robot Operating System Cookbook by Kumar Bipin

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Getting ready

First of all, let's make some changes to the current simulation so that we are able to work with perception better. We will create a new file named table.urdf in our workspace and add the following code into that file:

<robot name="simple_box"> <link name="my_box"> <inertial> <origin xyz="0 0 0.0145"/> <mass value="0.1" /> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" /> </inertial> <visual> <origin xyz="-0.23 0 0.215"/> <geometry> <box size="0.47 0.46 1.3"/> </geometry> </visual> <collision> <origin xyz="-0.23 0 0.215"/> <geometry> <box size="0.47 0.46 1.3"/> </geometry> </collision> </link> <gazebo reference="my_box"> <material>Gazebo/Wood</material> </gazebo> <gazebo> <static>true</static> ...

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