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 xacro
In this section, we will discuss xacro, XML macros which define the URDF files in a compact form and makes their readability and maintainability easier. Moreover, this new format allows us to develop the robot model in a modular structure, which can be reused in complex design.