URDF Tutorial

http://wiki.ros.org/urdf/Tutorials

urdf/Tutorials - ROS Wiki

Prerequisite

• tf tutorials.

Learning URDF Step by Step

1. Building a Visual Robot Model with URDF from ScratchLearn how to build a visual model of a robot that you can view in Rviz
2. Building a Movable Robot Model with URDFLearn how to define movable joints in URDF
3. Adding Physical and Collision Properties to a URDF ModelLearn how to add collision and inertial properties to links, and how to add joint dynamics to joints.
4. Using Xacro to Clean Up a URDF FileLearn some tricks to reduce the amount of code in a URDF file using Xacro
5. Using a URDF in GazeboPreliminary tutorial on how to spawn and control your robot in Gazebo.

 

Explaining a complete URDF file

1. Understanding the PR2 Robot DescriptionThis tutorial explains the layout of the top level URDF Xacro file for a complex robot such as PR2.

 

Learning URDF (including C++ API)

1. Create your own urdf fileIn this tutorial you start creating your own urdf robot description file.
2. Parse a urdf fileThis tutorial teaches you how to use the urdf parser
3. Using the robot state publisher on your own robotThis tutorial explains how you can publish the state of your robot to tf, using the robot state publisher.
4. Start using the KDL parserThis tutorial teaches you how to create a KDL Tree from a URDF file
5. Using urdf with robot_state_publisherThis tutorial gives a full example of a robot model with URDF that uses robot_state_publisher. First, we create the URDF model with all the necessary parts. Then we write a node which publishes the JointState and transforms. Finally, we run all the parts together.