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modify the URDF and kinect position turtlebot

asked 2012-10-22 11:46:58 -0500

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 -0500

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 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 -0500

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Last updated: Dec 19 '12