SCARA robot description - rhaschke/lecture GitHub Wiki

Create an URDF description of a SCARA robot, like the one in Figure 5 of the script. Use variables $l_0$, $l_1$, and $l_2$ to parameterise the model. Make use of xacro macros to generate the cylindrical link shapes.

Use rviz, joint_state_publisher, and robot_state_publisher to visualize your model interactively:

roscore
rosparam load myrobot.urdf robot_description  # load urdf as ROS parameter
rosrun joint_state_publisher_gui joint_state_publisher_gui  # publish joint values
rosrun robot_state_publisher robot_state_publisher  # publish TF frames for links
rosrun rviz rviz