Summary
This chapter covered creating 3D robot models in ROS 2, using URDF and Xacro to define a robot’s structure, kinematics, dynamics, and control. It began by introducing different modeling types (kinematic, dynamic, geometric, control, and sensor-actuator) that are essential for accurate robot visualization and simulation. Key elements like <link> and <joint> tags were explained, enabling the representation of a robot’s physical and functional aspects. The chapter also outlined exporting CAD models to URDF for ROS compatibility, utilizing ROS 2 tools to verify and visualize models, and applying best practices like modular design and minimal hardcoding to create efficient, adaptable robot models.
In the next chapter, we will discuss how to simulate the robot we have modeled in this chapter using the Gazebo simulator and ROS 2. We will also explore different URDF tags that we use mainly for simulating the robot in Gazebo.
