$\color{white}\colorbox{FE9227}{Progressing towards a solid foundation!}$

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The first step in creating the organizational structure of a robot simulation is to create a robot_description package. This package will contain all the files required to describe and visualize the robot. These will include the xacro, meshes, config, and rviz files.

Table of Contents

<aside> ⚠️ To keep your workspace clean, create a non-package folder one level above the description folder with just the name of your robot. This will allow you to contain the description, gazebo, and control packages organized in one sub-folder.

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Arc p1.mp4

cd ~/humble_ws/src/
mkdir hunter_se

Create package

Create the robot_description package. In this case, we will name our package hunter_se_description to match the name of the robot we are going to simulate.

cd ~/humble_ws/src/hunter_se/
ros2 pkg create --build-type ament_python hunter_se_description

The package was created without any dependencies. We will add these dependencies alter as we add functionality to the robot.

Add subfolders to the package

We are going to set up the folder hierarchy in the package before beginning any code. This will allow us to add the subfolders to the data_files section and save file inclusion headaches later.

cd ~/humble_ws/src/hunter_se/hunter_se_description
mkdir models launch
cd models
mkdir config meshes xacro

Add to setup.py

Add the data_files custom definition to setup.py and add the newly created folders.