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Best practice when setting up URDF

asked 2021-01-12 11:48:20 -0500

Gherkins
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updated 2022-04-17 10:39:51 -0500

lucasw

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First of all is an URDF necessary when trying to control a physical robot?

When building the URDF how should I specify the joints for the wheels. I have 2 swivel wheels that can move and they don't have a sensor to publish the current position. How should I include these wheels in the URDF? Secondly I have 2 motor wheels for a differential drive. How should these be defined in the URDF?
Is it better to build the URDF myself using simple shapes myself or is it useful to generate it through solidworks by converting the model to URDF? This would give the model a more accurate but more complicated shape.

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answered 2021-09-27 02:09:54 -0500

Kareem Magdy
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Sensor wheels should have a continuous joint while the castors can have a fixed joint

URDF Solidworks exporter is a great tool that makes our life easier but you will have to adjust the urdf file a little after exporting. You can always verify any change you make in rviz until you reach your desired output.

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Asked: 2021-01-12 11:48:20 -0500

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Last updated: Jan 12 '21

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