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+# Importing URDF robot - ROSConDemo tutorial
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+
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+## Prepare the URDF file
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+
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+Enter ROSConDemo folder and:
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+
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+
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+```console
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+cd Project/Assets/robotec_freezed_urdf_chasis
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+xacro apple_kraken.xacro > apple_kraken_new.urdf
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+```
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+
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+## Import URDF into O3DE
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+
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+Run the ROSConDemo O3DE project and follow these steps
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+
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+1. Import `apple_kraken_new.urdf` file using `RobotImporter` button. The `apple_kraken_new` prefab should apear in the `Entity Outliner`.
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+2. Open the `apple_kraken_new` prefab and add a `Wheel controller` component to entities: `wheel_rear_right_link` and `wheel_rear_right_link`. Leave all settings default.
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+3. Add a `Wheel controller` component to entities: `wheel_front_right_link` and `wheel_front_left_link`. Set the `Steering entity` to `steering_front_right_link` and `steering_front_left_link` respectively (by dragging these entities from the `Entity Outliner`). Leave other properties default.
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+
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+
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+
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+
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+
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+4. In the `base_link` entity add a `Vehicle Model` component. In this component:
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+ - Add 2 new axles by clicking `+` next to `Axles`.
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+ - In the first of these axles:
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+ - set `Axle tag` to `Front`
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+ - Add 2 wheels by clicking `+` next to `Axle wheels`
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+ - Set the first of these wheels to `wheel_front_left_link` and the second to `wheel_front_right_link` (by dragging these entities from the `Entity Outliner`).
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+ - Turn on `Is it a steering axle` switch.
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+ - In the second of these axles:
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+ - set `Axle tag` to `Rear`
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+ - Add 2 wheels by clicking `+` next to `Axle wheels`
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+ - Set the first of these wheels to `wheel_rear_left_link` and the second to `wheel_rear_right_link` (by dragging these entities from the `Entity Outliner`).
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+ - Turn on the `Is it a drive axle` switch.
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+ - In the `Drive model`/`Steering PID` set:
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+ - `P`: `1000.0`
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+ - `OutputLimit`: `200.0`
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+ - In the `Drive model`/`Speed PID` set:
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+ - `P`: `250.0`
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+ - `I`: `150.0`
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+ - `Imax`: `500.0`
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+ - `OutputLimit`: `500.0`
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+ - Turn on the `AntiWindUp` switch
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+ - In the `Vehicle limits` set `Speed limit` to `3.0`
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+ - Leave all the other settings default. The component should look like this:
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+
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+
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+
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+
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+5. In the `base_link` entity, `ROS2 Robot control` component change `Topic` to `ackermann_vel` and `Steering` to `Ackermann`.
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+
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+
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+
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+
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+6. In the `base_link` entity add a `Ackermann Control` component.
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+7. In the `base_link` entity add a `Tag` component. Add 1 tag by clicking `+` next to `Tags` and set the name to `Robot`.
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+8. In the `base_link` entity add an `Input` component and in the `Input to event bindings` field select `mobile_robot_control_keyboard.inputbindings`.
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+
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+
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+
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+Now it is a good time to test the robot. Check that the robot is standing on the ground and set a camera to see the robot. Click the Play button in the right-top corner of the O3DE window, or press `Ctrl G`. You should be able to control robot movement using arrow keys on the keyboard.
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Paweł Budziszewski
