In this section, we will discuss how to create an URDF file for an industrial robot. We will go through some basic steps on how to create an URDF file for an industrial robot.

As we already know, the URDF is an XML format file that is used to represent a robot model. The URDF file of a robot is the file that describes everything about it, from the visual part and how it looks, to the physical part such as the collision data or the inertia data. URDF files are widely used for representing robots in regular ROS systems. In the case of ROS-I, they are also used for representing industrial robots, but with some peculiarities that we are going to check during this section. Keep in mind that we are not going to learn the fundamentals about URDF files during this section, since we have already discussed them in Chapter 8, The Robotic Arm in ROS.

Moreover, in this section, we will discuss how to create a MoveIt! package for our industrial robot to perform motion planning.