ROS Programming: Building Powerful Robots

Creating URDF for an industrial robot

Creating the URDF file for an ordinary robot and industrial robot are the same, but in industrial robots, there are some standards that should be strictly followed during its URDF modeling, which are as follows:

• Simplify the URDF design: The URDF file should be simple and readable and only need the important tags
• Common design: Developing a common design formula for all industrial robots by various vendors
• Modularizing URDF: The URDF needs to modularize using XACRO macros and it can be included in a large URDF file without much hassle.

The following points are the main difference in the URDF design followed by ROS-I.

• Collision-Aware: The industrial robot IK planners are collision aware so the URDF ...