You're reading from ROS 2 from Scratch Get started with ROS 2 and create robotics applications with Python and C++

Product type Paperback

Published in Nov 2024

Publisher Packt

ISBN-13 9781835881408

Length 380 pages

Edition 1st Edition

Concepts

Robotics

Author (1):

Edouard Renard

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Table of Contents (20) Chapters

Preface

1. Part 1:Getting Started with ROS 2

2. Chapter 1: Introduction to ROS 2 – What Is ROS 2? FREE CHAPTER

3. Chapter 2: Installing and Setting Up ROS 2

4. Chapter 3: Uncovering ROS 2 Core Concepts

5. Part 2: Developing with ROS 2 – Python and C++

6. Chapter 4: Writing and Building a ROS 2 Node

7. Chapter 5: Topics – Sending and Receiving Messages between Nodes

8. Chapter 6: Services – Client/Server Interaction between Nodes

9. Chapter 7: Actions – When Services Are Not Enough

10. Chapter 8: Parameters – Making Nodes More Dynamic

11. Chapter 9: Launch Files – Starting All Your Nodes at Once

12. Part 3: Creating and Simulating a Custom Robot with ROS 2

13. Chapter 10: Discovering TFs with RViz

14. Chapter 11: Creating a URDF for a Robot

15. Chapter 12: Publishing TFs and Packaging the URDF

16. Chapter 13: Simulating a Robot in Gazebo

17. Chapter 14: Going Further – What To Do Next

18. Index

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Writing a URDF for a mobile robot

You have seen the complete process of adding links and joints in a URDF file. By repeating this process several times, you can create a complete model for any robot.

We are now going to use this process to create a mobile robot. We will then use this URDF as a base for the next chapters.

I will first show you the final robot model so you get an idea, and then we will build the URDF, step by step. You will get the specs for the robot as we build it. I encourage you to follow along and even write the code at the same time as you read the section. This is good practice for you to get more comfortable with URDF. As a reminder, you can find the complete code on GitHub.