ROS 2 - NAV 2 - Adding Physical Properties to our URDF - (Unified Robot Description Format)

Take a look how out Robot is displayed when we turn on/off Visual Enabled, Collision Enabled and Inertia property

Clip

 

Define macros containing the inertial properties of the our geometric primitives

Add collision areas to our base_link

Using the box_inertia macro we defined before to add some inertial properties to our base_link by the tag <xacro:box_inertia ... /> within <link name="base_footprint"> tag

Add collision and  cylinder inertia for wheel macros

Add collision and sphere inertia for spherical caster wheels

Clip about building and launching our robot on RViz and the changing of the URDF

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