Properly Model Robots in Gazebo From Scratch by Using URDF and Xacro Files - Complete ROS Tutorial

#robotics #ros #controltheory #mechatronics #urdf #machinelearning #electricalengineering #automation #industrialrobotics #industrialrobots #Rviz #machinelearning #signalprocessing #electricalengineering
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In this Robot Operating System (ROS) tutorial, we explain how to properly write Xacro (XML macro) and Unified Robot Description Format (URDF) robot model files, as well as lunch files such that the robot can be modeled and simulated in Gazebo. We explain the additions that need to be added to the URDF and Xacro files such that Gazebo can properly interpret and visualize the 3D robot files. We also explain how to create a workspace and a catkin package, and how to integrate the URDF and Xacro files in the new package.