ROS Programming: Building Powerful Robots

Explaining the xacro model of seven DOF arm

We will define 10 links and 9 joints on this robot and 2 links and 2 joints in the robot gripper.

Let's start by discussing the xacro definition:

<?xml version="1.0"?> 
<robot name="seven_dof_arm"  xmlns:xacro="http://www.ros.org/wiki/xacro">

Because we are writing a xacro file, we should mention the xacro namespace to parse the file.