Creating our first URDF file

The robot that we are going to build in the following sections, is a mobile robot with four wheels and an arm with a gripper.

To start with, we create the base of the robot with four wheels. Create a new file in the chapter7_tutorials/robot1_description/urdf folder with the name robot1.urdf, and enter the following code; this URDF code is based on XML, and the indentation is not mandatory but advisable. So, use an editor that supports it or an adequate plugin or configuration (for example, an appropriate .vimrc file in Vim):

<?xml version="1.0"?>
  <robot name="Robot1">
    <link name="base_link">
      <visual>
        <geometry>
          <box size="0.2 .3 .1"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.05"/>
        <material name="white">
          <color rgba="1 1 1 1"/>
        </material>
      </visual>
    </link>

    <link name="wheel_1">
      <visual...