Note

You're reading the documentation for a development version. For the latest released version, please have a look at Lyrical.

URDF

URDF (Unified Robot Description Format) is used to describe a robot’s structure, geometry, and physical properties for use in ROS. This article introduces URDF and provides a set of tutorials for building, extending, and using robot description files.

Area: simulation, capabilities | Content type: about | Level: intermediate

URDF (Unified Robot Description Format) is a file format for specifying the geometry and organization of robots in ROS. A URDF file follows the XML format as described on here.

• Building a visual robot model from scratch — tutorial
• Building a movable robot model — tutorial
• Adding physical and collision properties — tutorial
• Using URDF with robot_state_publisher (C++) — tutorial
• Using URDF with robot_state_publisher (Python) — tutorial
• Generating an URDF File — tutorial