Aiming at the problems of a time-consuming, difficult and complex operation in ROS environment, a model building method of external robot model import was proposed. The ROS operating system was used to build the model simulation platform, and SolidWorks software was used to generate the URDF file that could be executed by the ROS platform to complete the 3D modeling of the robot. The 3D model is displayed in Rviz and Gazebo for simulation verification after URDF file parsing, which can realize the autonomous control of the robot. It is of great significance to the research on the mapping and path planning algorithm of wheeled robots.