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

URDF: using an 2.4 existing model Gijs van der Hoorn

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

Inspect result of previous video, Rotate slowly

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

Add xacro import

Macro instantiation

Add fixed joint

Rotate robot 90 degrees using radians()

Inspect result, slowly rotate

Zoom out to factory overview

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