Taking into account all the concepts we have introduced about URDF, we can use the RViz tool to assist us while building the robot model. Some checks that it can provide are as follows:
- The total size of the robot has to match the dimensions of the actual robot. As you build the model part by part, if you make a mistake regarding a part's dimension, an error will arise when you measure the total size (length, width, and height). You can check this by using the measure tool in the RViz toolbar.
- You can also visually check for possible interference between robot parts, especially between the ones that are adjacent and move relative to each other (in respect to one another).
- The orientation of the reference frames.
- You can visualize the parts that are hidden by others by unchecking the corresponding link in RViz or by changing the...