robot_model_tutorials: urdf_tutorial
Package Summary
Support code for the step by step URDF tutorials on ROS.org
- Author: David Lu!!
- License: BSD
- Repository: wg-kforge
- Source: hg https://kforge.ros.org/robotmodel/tutorials
Contents
This package is intended to be used in conjunction with the following tutorials.
- 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
- 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.