2.4 existing model Gijs van der Hoorn Getting the simulation ready - - PowerPoint PPT Presentation

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Jan 02, 2024 217 likes •349 views

URDF: using an 2.4 existing model Gijs van der Hoorn Getting the simulation ready Tasks : Remove unneeded bins Move bin to turtlebot delivery station Add a pedestal q Add the second robot Inspect result of previous video, Rotate

SLIDE 1

Gijs van der Hoorn

URDF: using an existing model

2.4

SLIDE 2

Getting the simulation ready

Tasks:

ü Remove unneeded bins ü Move bin to turtlebot delivery station ü Add a pedestal q Add the second robot

SLIDE 3

Inspect result of previous video, Rotate slowly

SLIDE 4

Steps

1. Import the model definition (xacro macro)
2. Add the model to the factory (instantiation)
3. Fixating it in place (joint)
4. Update orientation

SLIDE 5

Add xacro import

SLIDE 6

Macro instantiation

SLIDE 7

Add fixed joint

SLIDE 8

Rotate robot 90 degrees using radians()

SLIDE 9

Inspect result, slowly rotate

SLIDE 10

Zoom out to factory overview

SLIDE 11

Getting the simulation ready - done

Tasks completed:

ü Remove unneeded bins ü Move bin to turtlebot delivery station ü Add a pedestal ü Add the second robot