I wonder what is the normal process of the development of a robot, this would be a broad question and not specific enough.
What I want to know urgently is dependent on what I choose to **get URDF by hand OR by Solidworks export plugin.**
I heard that using **sw_urdf_exporter** would **introduce error** of coordinate etc. and sometimes not work, and the code format is **not good for maintenance** if exported automatically **without xacro**. In addition, I notice that the URDF of **pr2** robot is written manually, which easier to understand the code.
However, writing a bunch of URDF to develop a robot seems not normal intuitively.
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