URDF Representation of Floor Hugger

References

• tutorials
• Quigley, Gerkey & Smart, chapter 16 Building your Own Robot, p 281.

Install

 sudo apt-get install ros-indigo-urdf-tutorial

URDF Description

 roscd floor_hugger
 mkdir model
 cd model
 emacs floor_hugger.urdf&

 floor_hugger.urdf

Execute

• rviz robot model display

 roslaunch urdf_tutorial display.launch model:=floor_hugger.urdf

• In rviz change the Global Options Background Color to a light gray.
• Uncheck the TF to remove labels and arrows for visual clarity.

URDF Graph

Produce floor_hugger.gv and floor_hugger.pdf

urdf_to_graphiz floor_hugger.urdf