1.建立工作空间
cd /home/fishbot_ws/src
ros2 pkg create fishbot_description --build-type ament_python
2.创建并编写URDF文件
cd /home/fishbot_ws/src/fishbot_description
mkdir urdf
cd urdf
touch fishbot_base.urdf
完成后的src中的文件结构
├── fishbot_description
│ ├── __init__.py
├── package.xml
├── setup.cfg
├── setup.py
└── urdf
└── fishbot_base.urdf
编辑fishbot_base.urdf
<?xml version="1.0"?>
<robot name="fishbot">
<!-- base link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.10"/>
</geometry>
</visual>
</link>
<!-- laser link -->
<link name="laser_link">