Creating a rough 3D model of our robot with URDF
Using URDF we can quickly rough out a 3D design for our robot, that we'll soon be able to use for simulations.
Companion blog post available at https://articulatedrobotics.xyz/mobil...
TF Overview • The ROS Transform System (TF) | Getting Re...
URDF Overview • Why do I think you should build this robot?
Commit at this stage https://github.com/joshnewans/articub...
Inertial macros file https://github.com/joshnewans/articub...
00:00 - Intro
00:40 - Differential Drive Concept
02:12 - Prep steps
02:43 - Recap of important ideas
04:22 - Creating a core file and base link
08:54 - Chassis
12:35 - Drive Wheels
17:55 - Caster Wheel
20:11 - Collision Geometry
21:22 - Inertia
25:10 - Save & Wrap up