|The URDF is very time consuming but its coming along nicely. I have added all joints and are now working on to make them work as in reality.|
The wheels are working great and the visualization in RVIZ presents the reality very well.
I have also started to work with the IMU joint and the ability to visualize the rotation of the robot (pitch, roll,yaw). To got this working I am using robot_localization pkg (sensor_fusion) Here I am fusing Odom and IMU to odometry/filtered. The visualization is still not very good for the IMU and will need some more love