# How to replace base_link of odom by my robot's complete 3D model

Hello,

I have a complete 3D model of my robot and I want to use it for ROS application. For exemple, I am publishing odometry message and visualize it on Rviz. How can I replace my base_link by my new model ? Will my robot's kinematics still working ? I only have the complete model in a STEP file.

URDF file only support STL and DAE, so I exported my model.STEP to a model.stl and placed the file in a directory meshes. I did a first urdf :

<?xml version="1.0" ?>
<robot name="robot" xmlns:xacro="https://www.ros.org/wiki/xacro">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot_description/meshes/model.stl'/>
</geometry>
</visual>