Working with Robot 3D Modeling in ROS 2
In the last chapter, we discussed implementing different ROS 2 concepts, such as topics, services, actions, and parameters, using C++ and the rclcpp client library. This chapter will show how we can apply these communication concepts to robot modeling, simulation, and control.
In this chapter, we focus more on robot modeling in ROS 2 using the Universal Robot Description Format (URDF), which can model the kinematics and dynamics of the robot. This 3D model can be used for visualization, simulation, motion planning, sensor and actuator integration, and real robot control. URDF is a useful feature in ROS 2 to keep the robot representation simple and modular.
We will start by discussing the importance of robot modeling and see the basics of URDF/Xacro modeling. After discussing the basics of URDF/Xacro, we will see how to convert a 3D CAD model of a robot to URDF. After building the URDF model, we will visualize it in RViz. Finally, we...
