June 2018
Intermediate to advanced
484 pages
11h 36m
English
Content preview from Robot Operating System Cookbook
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Understanding robot modeling using URDF
The ROS framework provides the Unified Robot Description Format (URDF), which is an XML file format that describes a robot, its geometry, its parts, its joints, physics, and so on. Whenever we use a 3D robot on ROS, for example, a mobile robot (Turtlebot), the humanoid robot (PR2), and some types of aerial robot, a set of several URDF files must be associated with them.
In the following sections, we will learn how to use the URDF file format to create a 3D model of a real-world robot for development.