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modify the URDF and kinect position turtlebot

asked 2012-10-22 11:46:58 -0600

krst gravatar image

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

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answered 2012-12-19 02:56:23 -0600

Fabian Saccilotto gravatar image

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.

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Asked: 2012-10-22 11:46:58 -0600

Seen: 1,168 times

Last updated: Dec 19 '12