Self-Navigating Bot URDF

The Universal Robot Description Format (URDF) is used for representing the robot model in ROS visualization tool (RViz).

Solidworks

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.

Prerequisites

Install the ROS Noetic framework for Ubuntu 20.04.

Setup

Create a workspace

mkdir -p ~/project/src
cd ~/project/src

Clone the git repository into the src folder

# 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

Usage

RViz

# open a terminals
cd ~/project

# source the terminal
source devel/setup.bash

# Command
roslaunch navigator_description display.launch

Gazebo

# open a terminals
cd ~/project

# source the terminal
source devel/setup.bash

# Command
roslaunch navigator_bringup gazebo.launch

Results

Rviz

The following image shows the URDF model visualized in Rviz

Gazebo

The following image shows the URDF model visualized in Gazebo