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Robot Operating System Cookbook
book

Robot Operating System Cookbook

by Kumar Bipin
June 2018
Intermediate to advanced content levelIntermediate to advanced
484 pages
11h 36m
English
Packt Publishing
Content preview from Robot Operating System Cookbook

How it works…

Build the base of the robot with four wheels by creating a file in the chapter6_tutorials/robot_description/urdf folder with the name mobile_robot.urdf, and add the following code:

<?xml version="1.0"?> <robot name="mobile"> <link name="base_link"> <visual> <geometry> <box size="0.2 .3 .1"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.05"/> <material name="yellow"> <color rgba="255 255 0 1"/> </material> </visual> <collision> <geometry> <box size="0.2 .3 0.1"/> </geometry> </collision> <inertial> <mass value="100"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> </link> <link name="wheel_1"> <visual> <geometry> <cylinder length="0.05" radius="0.05"/> </geometry> <origin rpy="0 1.5 0" xyz="0.1 ...
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Publisher Resources

ISBN: 9781783987443Supplemental Content