In this workshop, you'll gain valuable insights into:

• 𝗨𝗥𝗗𝗙/𝗫𝗮𝗰𝗿𝗼 𝗯𝗮𝘀𝗶𝗰 𝘁𝗮𝗴𝘀 𝗮𝗻𝗱 𝘀𝘁𝗿𝘂𝗰𝘁𝘂𝗿𝗲: Learn the key components, tags, and how to structure your files for modular and scalable robot descriptions,

• 𝗙𝗶𝗹𝗲 𝗼𝗿𝗴𝗮𝗻𝗶𝘇𝗮𝘁𝗶𝗼𝗻 𝗳𝗼𝗿 𝗿𝗲𝗮𝗹-𝘄𝗼𝗿𝗹𝗱 𝗽𝗿𝗼𝗷𝗲𝗰𝘁𝘀: Design a clean and reusable directory structure for large robot models using Xacro,

• 𝗣𝗹𝘂𝗴𝗶𝗻𝘀 𝗶𝗻 𝗨𝗥𝗗𝗙: Integrate Gazebo plugins for simulation and ROS 2 control plugins for hardware interfaces and controllers,

• 𝗖𝗼𝗻𝘃𝗲𝗿𝘁𝗶𝗻𝗴 𝗫𝗮𝗰𝗿𝗼 𝘁𝗼 𝗨𝗥𝗗𝗙: Use command-line tools and launch files to generate clean URDF files from parameterized Xacro descriptions,

• 𝗫𝗮𝗰𝗿𝗼 𝗳𝗲𝗮𝘁𝘂𝗿𝗲𝘀 𝗮𝗻𝗱 𝗮𝗯𝗶𝗹𝗶𝘁𝗶𝗲𝘀: Harness powerful features like macros, conditionals, arguments, and math expressions for flexible modeling.

• And definitely a lot more ...