New in groovy

Urdf Files

There are two xacro files of importance:

• kobuki.urdf.xacro - defines the <kobuki/> tag that can be embedded in other xacro files (e.g. turtlebot)

• kobuki_standalone.urdf.xacro - can be called as a standalone robot description (see launch/view_model.launch for an example).

Viewing the Model

There is a simple launcher inside the package that will let you view the kobuki model rviz.

> roslaunch kobuki_description view_model.launch