Using URDF we can quickly rough out a 3D design for our robot, that we'll soon be able to use for simulations.
Companion blog post available at https://articulatedrobotics.xyz/mobil...

TF Overview    • The ROS Transform System (TF) | Getti...  
URDF Overview    • Why do I think you should build this ...  

Commit at this stage https://github.com/joshnewans/articub...
Inertial macros file https://github.com/joshnewans/articub...

00:00 Intro
00:40 Differential Drive Concept
02:12 Prep steps
02:43 Recap of important ideas
04:22 Creating a core file and base link
08:54 Chassis
12:35 Drive Wheels
17:55 Caster Wheel
20:11 Collision Geometry
21:22 Inertia
25:10 Save & Wrap up