The robot that we are going to build in the following sections is a mobile robot with four wheels and an arm with a gripper.
To start with, we create the base of the robot with four wheels. Create a new file in the chapter4_tutorials/robot1_description/urdf folder with the name robot1.urdf, and enter the following code:
<?xml version="1.0"?>
<robot name="Robot1">
<link name="base_link">
<visual>
<geometry>
<box size="0.2 .3 .1" />
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.05" />
<material name="white">
<color rgba="1 1 1 1" />
</material>
</visual>
</link>
<link name="wheel_1">
<visual>
<geometry>
<cylinder length="0.05" radius="0.05" />
</geometry>
<origin rpy="0 1.5 0" xyz="0.1 0.1 0" />
<material name="black">
<color rgba="0 0 0 1" /...