Creating a URDF model of the robot

The robot model in ROS contains packages to model the various aspects of the robot, which is specified in the XML Robot Description Format. The core package of this stack is URDF, which parses URDF files and constructs an object model of the robot.

Unified Robot Description Format (URDF) is an XML specification to describe the model of a robot. We can represent the following features of the robot using URDF:

• The kinematic and dynamic description of the robot
• The visual representation of the robot
• The collision model of the robot

The description of the robot consists of a set of links (parts), elements, and a set of joint elements, which connect these links together. A typical robot description is shown in the following code:

 
<robot name="chefbot"> 
<link> ... </link> 
<link> ... </link> 
<link&gt...