Explaining the URDF file
When we check the code, we can add a <robot> tag at the top of the description. In this way, we inform our system that we are visualizing a markup language file. This also allows the text editor to highlight the keywords of the file:
<?xml version="1.0"?> <robot name="pan_tilt">
The <robot> tag defines the name of the robot that we are going to create. Here, we named the robot pan_tilt.
If we check the sections after the <robot> tag definition, we can view the link and joint definitions of the pan-and-tilt mechanism:
<link name="base_link"> <visual> <geometry> <cylinder length="0.01" radius="0.2"/> </geometry> <origin rpy="0 0 0" xyz="...