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The argument to project will be the package name and must be identical to the package name in the package.xml.. The project setup is done by ament_package() and this call must occur exactly once per package. ament_package() installs the package.xml, registers the package with the ament index, and installs config (and possibly target) files for CMake so that it can be found by …

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In this tutorial, we’re going to build a visual model of a robot that vaguely looks like R2D2. In later tutorials, you’ll learn how to articulate the model, add in some physical properties, and generate neater code with xacro, but for now, we’re going to focus on getting the visual geometry correct.. Before continuing, make sure you have the joint_state_publisher package installed.

Description: This tutorial will show you how to define your own custom message data types using the ROS Message Description Language. Tutorial Level: Next Tutorial: Using a C++ class in Python

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