## page was renamed from Xbot/Tutorials/Building xbot urdf ## For instruction on writing tutorials ## http://www.ros.org/wiki/WritingTutorials #################################### ##FILL ME IN #################################### ## for a custom note with links: ## note = ## for the canned note of "This tutorial assumes that you have completed the previous tutorials:" just add the links ## note.0= [[Xbot_bringup/Tutorials/indigo/Xbot Bringup|Xbot Bringup]], [[Xbot_bringup/Tutorials/indigo/PC Bringup|PC Bringup]] ## descriptive title for the tutorial ## title = Building xbot urdf ## multi-line description to be displayed in search ## description = How to build Xbot urdf ## the next tutorial description (optional) ## next = Take care of xbot ## links to next tutorial (optional) ## next.0.link=[[xbot/tutorials/indigo/xbot bringup]] ## next.1.link= ## what level user is this tutorial for ## level= BeginnerCategory ## keywords = ## XbotGettingStartedCategory #################################### <<IncludeCSTemplate(TutorialCSHeaderTemplate)>> ##START <<TableOfContents(4)>> == Package Summary == This tutorial shows how to launch the xbot obstacle avoidance module and explains how it works. * Maintainer status: developing * Maintainer: Chai Changkun < chaichangkun@163.com > * Author: Chai Changkun == Overview == This tutorial describes the urdf for [[Robots/Xbot|Xbot]]. Unified Robot Description Format(urdf) is an XML format for representing a robot model. To learn how to build up your own robot models using the URDF specification. Check out the [[urdf/Tutorials]] page. xbot urdf is shown as below. {{attachment:xbot_urdf.png|xbot_urdf|align="middle",width="40%"}} == Specification == Xbot urdf is established like a tree. The root is base_link which represent the main robot base and the stems are the links attached to the base. The leaves, as is shown in the picture below, are camera, lidar and wheels. {{attachment:xbot_urdf_tree.png|xbot_urdf_tree|align="middle",width="60%"}} ##END == What Next? == * [[xbot/tutorials/indigo/xbot bringup]] or return to [[Robots/Xbot|Xbot main page|&distro=indigo]]. ## AUTOGENERATED DO NOT DELETE ## TutorialCategory ## FILL IN THE STACK TUTORIAL CATEGORY HERE