Robot Operating System Cookbook

How to do it…

We will complete the URDF file to introduce the robot model in Gazebo by defining a few more elements there. However, we will be using the .xacro file which is more complex, but more powerful for development. We can find the file with all its modifications at chapter6_tutorials/robot_description/urdf/robot_gazebo.xacro on GitHub (https://github.com/kbipin/Robot-Operating-System-Cookbook):

<link name="base_link"> 
               <visual> 
               <geometry> 
                           <box size="0.2 .3 .1"/> 
                     </geometry> 
               <origin rpy="0 0 1.54" xyz="0 0 0.05"/> 
               <material name="white"> 
                     <color rgba="1 1 1 1"/> 
               </material> 
               </visual> 
         <collision> 
               <geometry> 
                           <box size="0.2 .3 0.1"/> 
               </geometry> 
         </collision> 
         <xacro:default_inertial mass="10"/> 
</link> 

You may have noticed in the preceding ...