ROS Programming: Building Powerful Robots

The Robotic arm simulation model for Gazebo

We can create the simulation model for a robotic arm by updating the existing robot description by adding simulation parameters. You can see the complete simulation model of the robot in the chapter_3_code/ mastering_ros_robot_description_pkg/urdf/ seven_dof_arm.xacro file.

The file is filled with URDF tags, which are necessary for the simulation. We will define the sections of collision, inertial, transmission, joints, links and Gazebo.

To launch the existing simulation model, we can use the chapter_3_code/seven_dof_arm_gazebo package, which has a launch file called seven_dof_arm_world.launch. The file definition is as follows:

<launch> <!-- these are the arguments you can pass this launch file, ...