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