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Robot Operating System Cookbook by Kumar Bipin

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Getting ready

Once again, we are going to build a mobile robot with four wheels and an arm robot with a gripper, like we discussed in the previous section, using xacro instead of the URDF file format. Moreover, we can create each example program in the ROS package in our workspace individually or copy them from the chapter6_tutorials packages in GitHub, which are arm_robot.xacro and mobile_robot.xacro, respectively.

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