# urdf_tutorial

**Repository Path**: pangpengqiang/urdf_tutorial

## Basic Information

- **Project Name**: urdf_tutorial
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: ros1
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-12-06
- **Last Updated**: 2023-12-06

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# urdf_tutorial: Learning URDF Step by Step

 1. [Building a Visual Robot Model with URDF from Scratch](https://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch) - Learn how to build a visual model of a robot that you can view in Rviz

 1. [Building a Movable Robot Model with URDF](https://wiki.ros.org/urdf/Tutorials/Building%20a%20Movable%20Robot%20Model%20with%20URDF) - Learn how to define movable joints in URDF

 1. [Adding Physical and Collision Properties to a URDF Model](https://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model) - Learn how to add collision and inertial properties to links, and how to add joint dynamics to joints.

 1. [Using Xacro to Clean Up a URDF File](https://wiki.ros.org/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URDF%20File) - Learn some tricks to reduce the amount of code in a URDF file using Xacro

See also [urdf_sim_tutorial](https://github.com/ros/urdf_sim_tutorial) for the final tutorial: [Using a URDF in Gazebo](https://wiki.ros.org/urdf/Tutorials/Using%20a%20URDF%20in%20Gazebo) - Preliminary tutorial on how to spawn and control your robot in Gazebo.