5.4.4.13. 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.

• 5.4.4.13.1. Building a visual robot model from scratch
• 5.4.4.13.2. Building a movable robot model
• 5.4.4.13.3. Adding physical and collision properties
• 5.4.4.13.4. Using Xacro to clean up your code
• 5.4.4.13.5. Using URDF with robot_state_publisher (C++)
• 5.4.4.13.6. Using URDF with robot_state_publisher (Python)
• 5.4.4.13.7. Generating an URDF File