In this chapter, we discussed the modeling of the Chefbot robot. The modeling involves 2D and 3D designing of the robot hardware and ends up in as URDF model, which can be used in ROS. The chapter started with the various requirements to be satisfied by the robot and we have seen how to calculate various design parameters. After calculating the design parameters, we started to design the 2D sketches of the robot hardware. The designing was done using LibreCAD, a free CAD tool. After that, we worked on the 3D model in Blender using Python scripting. We have created the mesh model from Blender and created the URDF model of the robot. After the creation of the URDF model, we looked at how to visualize the robot in Rviz.
In the next chapter, we will discuss how to simulate this robot and perform mapping and localization.