Prerequisite

• tf tutorials.

Learning URDF Step by Step

1. 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

2. Building a Movable Robot Model with URDF

   Learn how to define movable joints in URDF

3. 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.

4. Using Xacro to Clean Up a URDF File

   Learn some tricks to reduce the amount of code in a URDF file using Xacro

5. Using a URDF in Gazebo

   Preliminary tutorial on how to spawn and control your robot in Gazebo.

Explaining a complete URDF file

1. Understanding the PR2 Robot Description

   This 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 file

   In this tutorial you start creating your own urdf robot description file.

2. Parse a urdf file

   This tutorial teaches you how to use the urdf parser

3. Using the robot state publisher on your own robot

   This tutorial explains how you can publish the state of your robot to tf, using the robot state publisher.

4. Start using the KDL parser

   This tutorial teaches you how to create a KDL Tree from a URDF file

5. 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.

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