March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Creating our first URDF model
After learning about URDF and its important tags, we can start some basic modeling using URDF. The first robot mechanism that we are going to design is a pan and tilt mechanism as shown in the following figure.
There are three links and two joints in this mechanism. The base link is static, in which all other links are mounted. The first joint can pan on its axis and the second link is mounted on the first link and it can tilt on its axis. The two joints in this system are of a revolute type.
Figure 4 : Visualization of a pan and tilt mechanism in RViz
Let's see the URDF code of this mechanism. Navigate to chapter_2_code/mastering_ros_robot_description_pkg/urdf ...