Robot URDF and XACRO

This repository demonstrates my skills in creating URDF (Unified Robot Description Format) and XACRO (XML Macros) files for a robot model. The robot was designed using Onshape, a cloud-based CAD software, and the meshes were extracted and converted for use in ROS 2. The goal of this project is to showcase a well-designed, detailed robot model using URDF and XACRO, with a focus on visualization in RViz. and motion simulation in ** Gazebo**

Table of Contents

1. Overview
2. Robot Design
3. URDF and XACRO Details
4. How to Launch the Robot Model in RViz
5. Screenshots
6. Key Features and Skills
7. Installation
8. Licensing

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Overview

This project features a robot model designed and developed using ROS 2, utilizing URDF and XACRO files to describe the robot's physical properties and kinematics. The robot model can be visualized in RViz, and motion simulation in Gazebo and the corresponding configuration enables simulation using the diff_drive_controller. This repository highlights my ability to transform a CAD model into a usable robotic model for ROS-based systems.

Robot Design

The robot model is based on a design created in Onshape, a professional cloud-based CAD tool. The model has been fully constructed and exported to work with ROS, focusing on a differential drive robot configuration with precise wheel placements, sensors, and other key mechanical features.

The robot design includes:

• Chassis with accurate dimensions and geometry
• Wheels with properly defined joint configurations
• Links with defined physical properties such as mass, inertia, and geometry
• Visual meshes exported directly from Onshape and converted into appropriate formats for ROS integration

URDF and XACRO Details

The robot's URDF is structured using XACRO macros, which help reduce redundancy and increase modularity. The XACRO file contains:

• Robot links: Defining the robot's parts (e.g., base, wheels, sensors) and their properties.
• Joints: Defining the relationships and movement constraints between links (e.g., rotating wheels, turning axis).
• Transmission: Configuring robot actuators, such as motors for differential drive.
• Collision elements: Defining interactions in simulation (for simulators like Gazebo, if needed).
• Visual elements: Using meshes exported from Onshape and referenced in the URDF for visualization in RViz.

How to Launch the Robot Model in RViz

Follow these steps to visualize the robot in RViz:

1. Clone this repository into your ROS 2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/yourusername/robot_car.git
   cd ..
   colcon build
   ros2 launch robot_car display.launch.py
   

Thank you