The Universal Robot Description Format (URDF) is used for representing the robot model in ROS visualization tool (RViz).
Initially a 3D model of the bot is built in Solidworks. The following image shows the 3D model.
The URDF of the model is extracted uing URDF_exporter pluggin for Solidworks.
Install the ROS Noetic framework for Ubuntu 20.04.
mkdir -p ~/project/src
cd ~/project/src# Git must be installed
git clone https://github.com/varunkumartp/Self_Navigating_Bot_URDF
cd ..
# Build the code
catkin_make
# If no errors run
source devel/setup.bash# open a terminals
cd ~/project
# source the terminal
source devel/setup.bash
# Command
roslaunch navigator_description display.launch# open a terminals
cd ~/project
# source the terminal
source devel/setup.bash
# Command
roslaunch navigator_bringup gazebo.launchThe following image shows the URDF model visualized in Rviz
The following image shows the URDF model visualized in Gazebo
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