1、ROS URDF小车模型
安装urdf_tutorial包
$ sudo apt-get install ros-indigo-urdf-tutorial
2、创建功能包和依赖项
$ cd catkin_ws/
$ cd src/
$ catkin_create_pkg smartcar urdf(std_msgs rospy roscpp urdf)
语法
生成 .xml .txt文件,在smartcar文件下新建smart.urdf和display.launch文件
urdf文件添加如下代码
<?xml version="1.0"?>
<robot name="smartcar">
<link name="base_link">
<visual>
<geometry>
<box size="0.25 .16 .05"/>
</geometry>
<origin rpy="0 0 1.57075" xyz="0 0 0"/>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
</link>
<link name="right_front_wheel">
<visual>
<geometry>
<cylinder length=".02" radius="0.025"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="right_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link=