The Mobile Robot URDF Maker is an open-source tool designed to simplify the creation of Unified Robot Description Format (URDF) files for mobile robots. This Python-based wizard enables users to generate URDF files tailored to various robot configurations without manual coding.

In its latest version, the tool supports three distinct robot types:

1. Four-wheeled robots

2. Three-wheeled (tricycle) robots

3. Two-wheeled robots with a caster wheel

Users can now also select from six different controller types depending on the chosen robot configuration:

1. For two-wheeled robots with a caster wheel:

• diff-drive controller

2. For three-wheeled (tricycle) robots:

• tricycle controller

• tricycle-steering controller

3. For four-wheeled robots:

• diff-drive (skid-steering) controller

• ackermann controller

• mecanum controller

After selecting the desired robot type and controller, users input specific parameters, and the tool automatically generates the corresponding URDF file. A copy of the generated files is saved in a designated location for launch files, streamlining integration with simulation environments such as ROS2 and Gazebo. In this version, both the .urdf and .urdf.xacro files are available; allowing for easier future customization and fine-tuning through the Xacro format.

Version 3 also introduces Gazebo simulation support (Modern Gazebo), enabling users to launch the full robot and simulation environment using a newly added launch file.

The Mobile Robot URDF Maker is particularly beneficial for robotics enthusiasts, researchers, and developers who require quick and accurate URDF generation for various mobile robot configurations. By automating the URDF creation process, it reduces development time and minimizes potential errors associated with manual file creation.