ROS Programming: Building Powerful Robots

Inserting 3D CAD parts into URDF as links

Creating URDF is a time-consuming task; in this section, we will learn how to create a URDF package for a robot and insert 3D CAD models as a robot link in URDF. The first step is to create a robot description package; in this case, chapter_9_codes/chefbot_code/chefbot_description is our robot model ROS package. This package contains all the URDF files and 3D mesh files required for a robot. The chefbot_description/meshes folder has some 3D models that we designed earlier. These 3D models can be inserted into the URDF file. You can check the existing URDF file from chefbot_description/urdf. Here is a snippet that inserts a 3D model into URDF, which can act as a robot link. The code snippet can be ...