A URDF file follows the XML format as described on the ros.org wiki. A URDF data structure is a set of generic classes that various formats (currently URDF and Collada) can be parsed into.

Let's start very simple, and create a description of that tree structure, without worrying about the dimensions etc. Fire up your favorite text editor, and create a file called my_robot.urdf:

This tutorial teaches you how to create a KDL Tree from a URDF file Using urdf with robot_state_publisher This tutorial gives a full example of a robot model with URDF that uses …

The SolidWorks to URDF exporter is a SolidWorks add-in that allows for the convenient export of SW Parts and Assemblies into a URDF file. The exporter will create a ROS-like package that contains a …

The Unified Robot Description Format (URDF) is an XML specification to describe a robot. We attempt to keep this specification as general as possible, but obviously the specification cannot describe all …

The launch file runs packages that will create TF frames for each link in your model based on your URDF. Rviz uses this information to figure out where to display each shape.

Adding Physical and Collision Properties to a URDF Model Description: Learn how to add collision and inertial properties to links, and how to add joint dynamics to joints.

Sep 16, 2022 · robot Describes all properties of a robot. sensor/proposals Describes a sensor, such as a camera, ray sensor, etc link Describes the kinematic and dynamic properties of a link. transmission …

This tutorial teaches you how to create a KDL Tree from a URDF file Using urdf with robot_state_publisher This tutorial gives a full example of a robot model with URDF that uses …

While it is possible to write an explicit URDF for a particular industrial arm, a more general XACRO approach is taken. A XACRO is a type of URDF macro that can be used to generate a URDF.