Workshop 3: Creating Moveit Configuraion

Creating a ROS 2 URDF Description Package

This guide outlines the standard procedure for creating a dedicated package to house URDF (Unified Robot Description Format) models in ROS 2.

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1. Create the Package

Navigate to the src folder of your ROS 2 workspace and use the ros2 pkg create command. We use the ament_cmake build type to ensure assets are correctly installed to the share directory.

cd ~/dev_ws/src
ros2 pkg create --build-type ament_cmake my_robot_description

## 2. Setup the Directory Structure
A clean structure is vital for ROS 2 to locate meshes, URDFs, and launch configurations. Create the following subdirectories within your new package:

```bash
cd my_robot_description
mkdir urdf meshes launch config`