what is good practice for converting a robot's stl into a urdf usable for navigation2?

[Ryan D]

I've recently finished making a low poly version of my robot but im not sure what the next best step would be to take it from an stl model a to urdf for navigation2

[Chris Albertson]

What is the problem?  Does the URDF file "work" as it is with no polygon mesh file.  You can use a box or cylinder first for testing.   The trick is to NOT wait until you have everything done to test.    Do the first test with a very sparse URDF file, then build on that.  Start with just the base link and no joints.

On Wed, May 26, 2021 at 10:35 AM Ryan D <ryan...@gmail.com> wrote:

I've recently finished making a low poly version of my robot but im not sure what the next best step would be to take it from an stl model a to urdf for navigation2

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Chris Albertson
Redondo Beach, California

[Ryan D]

I saw alot of joints on the nav2 roboy example, does nav2 only need base link for navigation with odometry and lidar?

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[Chris Albertson]

for navigation inside gazebo, You need to model the drive wheels links with joints but if the lidar is mounted directly to the base link you can simply place the sensor on the baseline.    Later after that works make a lidar base and scanner and place the sensoron the scanner.

The idea is to do the minimum amount of work to make "rev 0.1" do anything at all them incrementally improve it.    If it wereme, I'd leave the lidar off the urdf file and not use the nav stack either.  Just drive it with  keyboard teleoperation

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