.. redirect-from::

    Tutorials/URDF/URDF-Main

.. _URDFMain:

URDF
====

URDF (Unified Robot Description Format) is a file format for specifying the geometry and organization of robots in ROS.
A URDF file follows the XML format as described on `here <https://wiki.ros.org/urdf/XML>`_.

.. contents:: Contents
   :depth: 0
   :local:

.. toctree::
   :maxdepth: 1

   Building-a-Visual-Robot-Model-with-URDF-from-Scratch
   Building-a-Movable-Robot-Model-with-URDF
   Adding-Physical-and-Collision-Properties-to-a-URDF-Model
   Using-Xacro-to-Clean-Up-a-URDF-File
   Using-a-URDF-in-Gazebo
   Using-URDF-with-Robot-State-Publisher-cpp
   Using-URDF-with-Robot-State-Publisher-py
   Exporting-an-URDF-File