| Note: This tutorial assumes that you have completed the previous tutorials: Xbot Bringup, PC Bringup. |
 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Building xbot urdf
Description: How to build Xbot urdfTutorial Level: BEGINNER
Next Tutorial: Take care of xbot xbot/tutorials/indigo/xbot bringup
Contents
Package Summary
This tutorial shows how to launch the xbot obstacle avoidance module and explains how it works.
- Maintainer status: developing
Maintainer: Chai Changkun < chaichangkun@163.com >
- Author: Chai Changkun
Overview
This tutorial describes the urdf for Xbot.
Unified Robot Description Format(urdf) is an XML format for representing a robot model.
To learn how to build up your own robot models using the URDF specification. Check out the urdf/Tutorials page.
xbot urdf is shown as below.
Specification
Xbot urdf is established like a tree. The root is base_link which represent the main robot base and the stems are the links attached to the base. The leaves, as is shown in the picture below, are camera, lidar and wheels.
What Next?
xbot/tutorials/indigo/xbot bringup or return to Xbot main page.
