Explaining the URDF file

When we check the code, we can add a <robot> tag at the top of the description. In this way, we inform our system that we are visualizing a markup language file. This also allows the text editor to highlight the keywords of the file:

<?xml version="1.0"?> 
<robot name="pan_tilt"> 

The <robot> tag defines the name of the robot that we are going to create. Here, we named the robot pan_tilt.

If we check the sections after the <robot> tag definition, we can view the link and joint definitions of the pan-and-tilt mechanism:

  <link name="base_link"> 
    <visual> 
      <geometry> 
      <cylinder length="0.01" radius="0.2"/> 
      </geometry> 
      <origin rpy="0 0 0" xyz=&quot...