Creating a rough 3D model of our robot with URDF

Using URDF we can quickly rough out a 3D design for our robot, that we'll soon be able to use for simulations.

00:00 - Intro
00:40 - Differential Drive Concept
02:12 - Prep steps
02:43 - Recap of important ideas
04:22 - Creating a core file and base link
08:54 - Chassis
12:35 - Drive Wheels
17:55 - Caster Wheel
20:11 - Collision Geometry
21:22 - Inertia
25:10 - Save & Wrap up

[niccolodejito]

Thank you for documenting your work! Robotics is an overwhelmingly technical field and i find your videos to reduce the uncertainty, enough to motivate me to continue building my project

[aarohgokhale]

Adding the collisions from the visuals was an excellent opportunity for a vim macro!

[deepakramani]

Another great video and tutorial. Your enthusiasm and dedication are appreciated. This video series will be helpful to many. Thank you.

[davidfarning]

Humble tester :) What a pain in the butt.... This has been my first ros2 + gazebo ignition project. The upstream documentation is really driving me bananas. In many cases it seems like the documentation from one version to the next is just cut and pasted without modification. It is then left up to users to figure out what has changed.

To make matters worse, the documentaion is in git hub, rather than a wiki. It is a lot harder to fix a bug in the documention when you find it :(

Thanks for the great series. Following along with your project is helping me stay on track with my project. It is all too easy to get lost in the weeds without an overall plan.

[nrdesign]

I had a brief RoS robotics course in university, but it was a much more hands-on learn as you go course. "Here's an RC car, a bunch of sensors and your task. You figure it out."

Would love to repeat that proper.

[bit]

As usual Thank you very much Josh! You are one smart cookie. I think I've become your Padawan.

[eilvgzd]

Hi Josh, your videos are amazing brother, it helps when getting into robotics is not as easy, if you could make a series on a 6 dof robotic arm using ros2, that would be epic. thanks for the videos

[lancerobbins]

Dude your awesome I love your content, good on you for putting this all together. I m hoping to build your prototype with my 3 year old to get her introduced to working with her hands and on a project. Thank you for doing this . Very inspirational!

[abhismirai]

really enjoying these series thank you so much

[iurireis]

Congratulations one more time, you are doing a really great content, great video!

[hiepoanminh]

You're my teacher !!!. Thanks you so much

[WKWK]

I am having an error. Once I added the wheels, the rviz2 complains that "No transform [left_wheel] to [base_line]" "No transform [right_wheel] to [base_line]". I am using ROS2 Humble. Anyone else is having this issue? And any ideas how to fix it?

[abdullahusman]

I followed your steps but when state publisher does not show the chassis link i created

[artchu]

Низкий поклон тебе друг, проделанная тобой работа очень важна для меня. Спасибо

[cssociety]

please continue. feeling good to see you and learn from you

[CerebralDad]

after installing xacro for iron and running the launch file i get the exception that there is no module named xacro - should i try to do a brute pip install of xacro - not sure how to proceed. thanks!

[MrFelipeX]

Really nice video as always. I'm looking forward to the ros2_control part as I need it for a robotic arm I'm building. Thanks a lot for your videos, you are the best!

[JoeyMoreland]

Great video(s). Thank you so much for making these.

[Indresh-bixn]

there is a problem where i couldnt run the package of joint_publisher_gui in which it says package not found.eventhough i had sourced it but no use.kindly help anyone

[ByteHendTechX]

can i add a converted SLDW to URDF with meshes to this?