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

asked 2019-06-28 05:21:41 -0500

Shanika gravatar image

updated 2019-07-01 02:09:21 -0500


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="">
 <link name="base_link">
   <origin rpy="0 0 0" xyz="0 0 0"/>
    <mesh filename="package://robot_description/meshes/model.stl'/>

Thank you in advance,


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