Robot Operating System Cookbook

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We are able to fly with the MAVs that are shipped with RotorS. But it would be great if we were able to bring our own MAV into RotorS. In this section, we will discuss how to design and integrate our custom MAV into RotorS. In addition, we describe how custom sensors can be written as a Gazebo plugin.

We will use the Unified Robot Description Format (URDF), with XML Macros (Xacro) for the description of the robot, which was discussed in detail in Chapter 6, Robot Modeling and Simulation.

Although, Gazebo has its own format to describe the robots, objects, and the environment, called Simulation Description Format (SDF), we are adhering firmly to URDF here, as this format can be displayed in the RViz. Nevertheless, all the SDF-specific ...