ROS2 Jazzy: Import and Simulate External CAD Robot Geometry and Files: Complete Tutorial

Описание: #ros2 #ros2jazzy #robotics #mechatronics #machinelearning #aleksandarhaber
Manual, CAD, and Python files are here: https://ko-fi.com/s/b69cd7128d

In this Robot Operating System 2 (ROS2) Jazzy tutorial, we explain

(1) How to import an external robot 3D CAD geometry from a CAD file into ROS2 Jazzy Jalisco.
(2) How to create a minimal Unified Robot Description Format (URDF) file and a model for displaying the CAD model.
(3) How to create a ROS2 Jazzy package and a launch file for visualizing the CAD model.
(4) How to visualize the robot geometry in RViz and ROS2 Jazzy Jalisco.

Explanation of the terms:

URDF file format is a widely used XML file format for describing the geometry and configuration of robots. It is used in ROS and Gazebo to define the geometry, joints, and configuration of robots.
RViz is a 3D visualization tool (and more than that) for ROS2.
Launch files are ROS2 files that are used to configure and run at the same time a number of ROS2 nodes and other components of a ROS2 system. For example, with a single launch file you can run a number of different nodes and components for controlling a mobile robot.