Creating the ROS package for the robot description
Before creating the URDF file for the robot, let's create a ROS package in the catkin
workspace so that the robot model keeps using the following command:
$ catkin_create_pkg mastering_ros_robot_description_pkg roscpp tf geometry_msgs urdf rviz xacro
The package mainly depends on the urdf
and xacro
packages, and we can create the urdf
file of the robot inside this package and create launch files to display the created urdf
in RViz. The full package is available on the following Git repository, you can clone the repository for a reference to implement this package or you can get the package from the book's source code:
$ git clone https://github.com/qboticslabs/mastering_ros_robot_description_pkg.git ...
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