Conventions

1. Declare joints before links
2. When declaring a joint/link pair, name them the same thing but append a _joint or _link suffix
   1. example_joint and example_link
3. Put one new line between a joint/link pair
4. Put two new lines between two different joint/link pairs
5. Put three new lines between any two different sections

Standards

Official Robotics Standards

Most important to note:

1. The parent link to all of the actual robot, rigidly fixed to the mobile platform base, is base_link
2. The world fixed coordinate frame for odometry is odom
3. ROS uses a right hand coordinate system where X forward, Y left, and Z up.

Author: Ella Moody (https://github.com/TheThingKnownAsKit)