ROS Robotics Projects - Second Edition

Initializing the workspace

To initialize the workspace, we will make use of the same workspace we created for this chapter (chapter_3_ws). Download the meshes from the link to the meshes folder you created in the Building the robot base section. Now, go to the urdf folder and create a file called robot_arm.urdf.xacro using the following commands:

$ cd ~/chapter3_ws/src/robot_description/urdf/$ gedit robot_arm.urdf.xacro

Initialize the XML version tag and the <robot> tag as follows and begin copying the given XML code into it step by step:

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

Now that we have initialized the workspace, let's move on to the next step, which is defining the links. ...