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Is there a easy way to modify the URDF file for a turtlebot roomba (metric)? I need to change the kinect position and also the inertia as i dont use the baseplates. Not really sure how this is done however, is it possible to manually edit the urdf file? If so where is it positioned?
many thanks
The urdf of the turtlebot is placed under turtlebot/turtlebot/desription/urdf/. There are different xacro files.
When I remeber correctly the main file is turtlebot.urdf.xacro which includes the other ones (you will see it in the xml code)
You can get help for editing under http://www.ros.org/wiki/urdf. You don't have to build the urdf explicitly it is normally done in the launch file via xacro.
Asked: 2012-10-22 11:46:58 -0500
Seen: 1,450 times
Last updated: Dec 19 '12
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