Revision history [back]

If you want to make a car robot in ROS that looks pretty like a real car, you need a CAD model of a car that looks like a real car, preferably one with the wheels as separate models. You will then need to convert that model into a format that Gazebo and rViz can understand, such as the STL format or COLLADA .dae files. You can then use that to create a URDF or SRDF by using the CAD models as the visual representation of the links for the robot model. See the URDF tutorials for how to build a URDF file and make it usable in simulation and visualisation. In those tutorials, replace the cylinders and boxes with <mesh> tags that point to your CAD files.