You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Galactic.

URDF Tutorials

URDF (Unified Robot Description Format) is a file format for specifying the geometry and organization of robots in ROS.

• Building a Visual Robot Model with URDF from Scratch
• Building a Movable Robot Model with URDF
• Adding Physical and Collision Properties to a URDF Model
• Using Xacro to Clean Up a URDF File
• Using URDF with robot_state_publisher