MYRAbot model for simulation (urdf+gazebo)

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Components of MYRAbot model

We have started creating a model of the MYRAbot's structure and we have added the mobile base Roomba, the kinect camera, the arm model and the webcam Logitech Webcam Pro 9000.

First, we will create a new package with the necessary dependences for our programs (urdf std_msgs sensor_msgs tf roscpp). We will execute the next commands in a terminal:

cd ~/ros_workspace
roscreate-pkg myrabot_fer_modelo urdf std_msgs sensor_msgs tf roscpp

URDF MYRAbot's structure

We have made the 3D model of the structure with a CAD software which we use the parts with a complex geometry.

[[file:estructura_MYRAbot_modelo.jpg|thumb|500px|center|3D CAD design of MYRAbot's structure]

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