Best practice when setting up URDF

asked 2021-01-12 11:48:20 -0600

Gherkins gravatar image

updated 2021-01-12 12:04:15 -0600

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

  1. 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?

  2. 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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