![]() The wheel joints in the photo connect the wheel link to the base link.įixed joints have no motion at all. The upper arm, forearm and palm of the hand are links. The shoulder, elbow, and wrist are joints. Joints are the pieces of the robot that move, enabling motion between connected links.Ĭonsider the human arm below as an example. Links are connected to each other by joints. The body of a robot consists of two components: Building the body of the robot is the first step when getting started with Nav2. It contains the complete physical description of the robot. The name of our workspace is “dev_ws”, which stands for “development workspace.”Ī URDF (Universal Robot Description Format) file is an XML file that describes what a robot should look like in real life. You have already created a ROS 2 workspace.If you are using a newer version of ROS 2, you can still follow all the steps in this tutorial. I highly recommend you get the newest version of ROS 2.If you are using another ROS 2 distribution, you will need to replace ‘foxy’ with the name of your distribution everywhere I mention ‘foxy’ in this tutorial.ROS 2 Foxy Fitzroy installed on Ubuntu Linux 20.04. ![]() Install the ROS 2 Navigation Stack (Nav2).
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