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Installation Manual

  • 1. Linux binary installation
  • 2. Linux installation from sources
  • 3. Docker installation

Overview

  • 1. Vulcanexus Overview
  • 2. Vulcanexus Middleware
  • 3. Developer Tools
  • 4. Vulcanexus Metapackages
  • 5. ROS 2 Documentation
    • 5.1. Installation
    • 5.2. Distributions
    • 5.3. Tutorials
      • 5.3.1. Beginner: CLI tools
      • 5.3.2. Beginner: Client libraries
      • 5.3.3. Intermediate
        • 5.3.3.1. Managing Dependencies with rosdep
        • 5.3.3.2. Creating an action
        • 5.3.3.3. Writing an action server and client (C++)
        • 5.3.3.4. Writing an action server and client (Python)
        • 5.3.3.5. Writing a Composable Node (C++)
        • 5.3.3.6. Composing multiple nodes in a single process
        • 5.3.3.7. Using the Node Interfaces Template Class (C++)
        • 5.3.3.8. Monitoring for parameter changes (C++)
        • 5.3.3.9. Launch
        • 5.3.3.10. tf2
        • 5.3.3.11. Testing
        • 5.3.3.12. URDF
        • 5.3.3.13. RViz
      • 5.3.4. Advanced
      • 5.3.5. Demos
      • 5.3.6. Miscellaneous
      • 5.3.7. Examples
    • 5.4. How-to Guides
    • 5.5. Concepts
    • 5.6. Contact
    • 5.7. The ROS 2 Project
    • 5.8. Package Docs
    • 5.9. Related Projects
    • 5.10. Glossary
    • 5.11. Citations
    • 5.12. Getting started
    • 5.13. The ROS 2 project
    • 5.14. ROS community resources
    • 5.15. General ROS project resources
    • 5.16. Events
    • 5.17. Miscellaneous
    • 5.18. Deprecated
  • 6. micro-ROS Documentation
  • 7. Vulcanexus Enhancements

Tutorials

  • 1. Vulcanexus Core Tutorials
  • 2. Vulcanexus Tools Tutorials
  • 3. Vulcanexus Cloud Tutorials
  • 4. Vulcanexus Micro Tutorials

Use cases

  • 1. Vulcanexus Use Cases

Support

  • 1. Supported platforms
  • 2. Vulcanexus Releases

Appendixes

  • Glossary
Vulcanexus
  • 5. ROS 2 Documentation
  • 5.3. Tutorials
  • 5.3.3. Intermediate
  • 5.3.3.12. URDF
  • View page source

5.3.3.12. 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.

  • 5.3.3.12.1. Building a visual robot model from scratch
  • 5.3.3.12.2. Building a movable robot model
  • 5.3.3.12.3. Adding physical and collision properties
  • 5.3.3.12.4. Using Xacro to clean up your code
  • 5.3.3.12.5. Using a URDF in Gazebo
  • 5.3.3.12.6. Using URDF with robot_state_publisher (C++)
  • 5.3.3.12.7. Using URDF with robot_state_publisher (Python)
  • 5.3.3.12.8. Generating an URDF File
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© 2022 Open Robotics ROS 2 Documentation contributions included herein are the copyrights of their respective owners. The documentation provided herein is licensed under the terms of the Creative Commons Attribution 4.0 International as published by Open Robotics. ROS 2 and respective logos are trademarks of Open Robotics. All other trademarks are property of their respective owners.