Construction of URDF model based on open source robot dog using Gazebo and ROS

Abstract

In this paper, the mechanical design and electronics used in the OpenDog are explained along with the process of creating a custom URDF file. The custom URDF based on the available OpenDog model is needed to port it to ROS and perform path planning algorithms on the same. This is carried out by further creating separate packages and launch files for visualization and simulation of the model. The simulations of the movements are performed in Gazebo and visualized in Rviz.