Creating a URDF for an industrial robot

Creating the URDF file for an ordinary robot and an industrial robot are the same, but industrial robots require some standards that should be strictly followed during their URDF modeling, which are as follows:

• Simplify the URDF design: The URDF file should be simple and readable and only need the important tags.
• Develop a common design: Develop a common design formula for all industrial robots by various vendors.
• Modularize the URDF: The URDF needs to be modularized using XACRO macros and it can be included in a large URDF file without much hassle.

The following points are the main differences in the URDF design followed by ROS-I:

• Collision-aware: Industrial robot IK planners are collision-aware, so the URDF should contain an accurate collision 3D mesh for each link. Every link in the robot should export to STL or DAE with a proper coordinate system. The coordinate system that ROS-I is following is the x axis pointing...