robot_configuration

Robot Configuration

Robot configuration is defined in a URDF file.

The primary purpose of the configuration in this package is to enable visualization of the robots pose in RViz.

The robot configuration has information about the chassis dimensions and the relative position of the sensor to the chassis.

The URDF file is shown below with inline comments.

<robot name="avt_bot">
  <!-- Link for the robot base -->
  <link name="base_link" >
    <visual>
    <geometry>
      <box size="3.0 1.0 0.75" />
    </geometry>
    <material name="blue" >
      <color rgba="0 0 1 1" />
    </material>
  </visual>
  </link>

  <!-- link for the lidar sensor -->
  <link name="lidar" >
      <visual>
    <geometry>
      <box size="0.1 0.1 0.1" />
    </geometry>
    <material name="red" >
      <color rgba="1 0 0 1" />
    </material>
  </visual>
  </link>

  <!-- Fixed joint connecting lidar to robot base -->
  <joint name="lidar_joint" type="fixed">
    <parent link="base_link"/>
    <child link="lidar"/> 
    <!-- offset from the robot frame -->
    <origin xyz="0.0 0.0 1.0" rpy="0.0 0.0 0.0" />
    <axis xyz="1.0 0.0 0.0" />
  </joint>

</robot>