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URDF Example

This repo contains an example of a URDF file and a launch script to run it. (ROS 2) This is part of a tutorial on creating URDF files, available at the links below:

YouTube: See video for example

Blog Post: https://articulatedrobotics.xyz/ready-for-ros-7-urdf/

How To Run

  1. Build the package with colcon.
  2. Launch the robot_state_publisher launch file with ros2 launch urdf_example rsp.launch.py.
  3. Launch joint_state_publisher_gui with ros2 run joint_state_publisher_gui joint_state_publisher_gui. You may need to install it if you don't have it already.
  4. Launch RViz with rviz2

To replicate the RViz display shown in the video you will want to

  • Set your fixed frame to world
  • Add a RobotModel display, with the topic set to /robot_description, and alpha set to 0.8
  • Add a TF display with names enabled.

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A simple example of a URDF file to use with ROS

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