Tutorials on using the urdf file format:
- Create your own urdf file
In this tutorial you start creating your own urdf robot description file.
- Parse a urdf file
This tutorial teaches you how to use the urdf parser
- Building a Visual Robot Model with URDF from Scratch
Learn how to build a visual model of a robot that you can view in Rviz
- Building a Movable Robot Model with URDF
Learn how to define movable joints in URDF
- Adding Physical and Collision Properties to a URDF Model
Learn how to add collision and inertial properties to links, and how to add joint dynamics to joints.
- Using Xacro to Clean Up a URDF File
Learn some tricks to reduce the amount of code in a URDF file using Xacro
- Understanding the PR2 Robot Description, Part 1
This tutorial explains the layout of the top level URDF Xacro file for a complex robot such as PR2.
- Understanding the PR2 URDF description, Part 2
Describes one of the low-level components of the PR2 definition in full detail.
- Understanding the PR2 Robot Description Extensions for Gazebo Simulator
This tutorial explains URDF extensions used by Gazebo simulation.
- Adding a Sensor to the PR2 URDF
This tutorial describes how to add a camera sensor to the PR2 URDF.
- Working Directly with COLLADA
This tutorial shows how to visualize COLLADA XML files and use the in the ROS system as an alternative to URDF XML files.
- Using urdf with robot_state_publisher
This 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.
- Creating a simple robot model using lxf2urdf.py
This tutorial demonstrates how to convert a Lego Digital Designer file (*.lxf and *.ldr) to a ROS robot model file (*.urdf).
- Converting SimMechanics To URDF!
A step by step tutorial.
- Exporting URDF to COLLADA
This tutorial teaches you how to export an URDF file to a COLLADA document
Using URDF with kdl_parser
- Start using the KDL parser
This tutorial teached you how to create a KDL Tree from a URDF file