ROS 2 Documentation: Galactic Logo
  • Installation
    • Building ROS 2 on Ubuntu Linux
    • Installing ROS 2 on Ubuntu Linux
    • Installing ROS 2 via Debian Packages
    • Building ROS 2 on macOS
    • Building ROS 2 on Windows
    • Installing ROS 2 on Windows
    • Building ROS 2 on RHEL
    • Installing ROS 2 on RHEL
    • Installing ROS 2 via RPM Packages
    • Building ROS 2 on Fedora Linux
    • Installing the latest ROS 2 development
    • Maintaining a source checkout of ROS 2 Galactic
    • Alternative Installation Sources for Testing
    • Installing DDS implementations
      • Installing Connext security plugins
      • Installing University or Evaluation versions of RTI Connext DDS
      • Working with Eclipse Cyclone DDS
      • Working with eProsima Fast DDS
  • Docs Guide
  • Tutorials
    • Configuring your ROS 2 environment
    • Introducing turtlesim and rqt
    • Understanding ROS 2 nodes
    • Understanding ROS 2 topics
    • Understanding ROS 2 services
    • Understanding ROS 2 parameters
    • Understanding ROS 2 actions
    • Using rqt_console
    • Creating a launch file
    • Recording and playing back data
    • Creating a workspace
    • Creating your first ROS 2 package
    • Writing a simple publisher and subscriber (C++)
    • Writing a simple publisher and subscriber (Python)
    • Writing a simple service and client (C++)
    • Writing a simple service and client (Python)
    • Creating custom ROS 2 msg and srv files
    • Expanding on ROS 2 interfaces
    • Using parameters in a class (C++)
    • Using parameters in a class (Python)
    • Getting started with ros2doctor
    • Creating and Using Plugins (C++)
    • Creating an action
    • Writing an action server and client (C++)
    • Writing an action server and client (Python)
    • Launching/monitoring multiple nodes with Launch
    • Using ROS 2 launch for large projects
    • Using substitutions in launch files
    • Using event handlers in launch files
    • Composing multiple nodes in a single process
    • Using colcon to build packages
    • Monitoring for parameter changes (C++)
    • tf2 Tutorials
      • Introduction to tf2
      • Writing a tf2 static broadcaster (Python)
      • Writing a tf2 static broadcaster (C++)
      • Writing a tf2 broadcaster (Python)
      • Writing a tf2 broadcaster (C++)
      • Writing a tf2 listener (Python)
      • Writing a tf2 listener (C++)
      • Adding a frame (Python)
      • Adding a frame (C++)
      • Learning about tf2 and time (Python)
      • Learning about tf2 and time (C++)
      • Time travel with tf2 (Python)
      • Time travel with tf2 (C++)
      • Debugging tf2 problems
      • Quaternion fundamentals
      • Using stamped datatypes with tf2_ros::MessageFilter
    • URDF Tutorials
      • 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
    • ROS 2 Topic Statistics Tutorial (C++)
    • Using Fast DDS Discovery Server as discovery protocol [community-contributed]
    • Implement a custom memory allocator
    • Unlock all the potential of Fast DDS as ROS 2 middleware [community-contributed]
    • Recording a bag from your own node (C++)
    • Recording a bag from your own node (Python)
    • ROS2 on IBM Cloud Kubernetes [community-contributed]
    • Eclipse Oxygen with ROS 2 and rviz2 [community-contributed]
    • Building realtime Linux for ROS 2 [community-contributed]
    • Building ROS 2 Package with eclipse 2021-06
    • Use quality-of-service settings to handle lossy networks
    • Management of nodes with managed lifecycles
    • Efficient intra-process communication
    • Recording and playback of topic data with rosbag using the ROS 1 bridge
    • Real-time programming in ROS 2
    • Trying the dummy robot demo
    • Logging and logger configuration demo
  • How-to Guides
    • Installation troubleshooting
    • Developing a ROS 2 package
    • ament_cmake user documentation
    • ament_cmake_python user documentation
    • Migrating launch files from ROS 1 to ROS 2
    • Using Python, XML, and YAML for ROS 2 Launch Files
    • Migrating YAML parameter files from ROS 1 to ROS 2
    • Passing ROS arguments to nodes via the command-line
    • Synchronous vs. asynchronous service clients
    • DDS tuning information
    • rosbag2: Overriding QoS Policies
    • Working with multiple ROS 2 middleware implementations
    • Cross-compilation
    • Releasing a ROS 2 package with bloom
    • Using Python Packages with ROS 2
    • Porting RQt plugins to Windows
    • Running ROS 2 nodes in Docker [community-contributed]
    • ROS 2 Package Maintainer Guide
    • Building a custom Debian package
    • Topics vs Services vs Actions
    • Using variants
    • Building RQt from source
      • Building RQt from source on macOS
      • Building RQt from source on Windows 10
  • Concepts
    • The ROS_DOMAIN_ID
    • About different ROS 2 DDS/RTPS vendors
    • About logging and logger configuration
    • About Quality of Service settings
    • About ROS 2 client libraries
    • About ROS 2 interfaces
    • About parameters in ROS 2
    • Executors
    • About topic statistics
    • Introspection with command line tools
    • Overview and usage of RQt
    • About Composition
    • On the mixing of ament and catkin (catment)
    • About Cross-compilation
    • About tf2
    • About the build system
    • About internal ROS 2 interfaces
    • About ROS 2 middleware implementations
    • ROS 2 Client Interfaces (Client Libraries)
  • Contributing
    • ROS 2 developer guide
    • Code style and language versions
    • Quality guide: ensuring code quality
    • Migration guide from ROS 1
      • Python migration guide from ROS 1
    • ROS Build Farms
    • Windows Tips and Tricks
    • Contributing to ROS 2 Documentation
  • Contact
  • ROSCon Content
  • Distributions
    • ROS 2 alpha releases (Aug 2015 - Oct 2016)
    • Beta 1 (codename ‘Asphalt’; December 2016)
    • Beta 2 (codename ‘r2b2’; July 2017)
    • Beta 3 (codename ‘r2b3’; September 2017)
    • ROS 2 Ardent Apalone (codename ‘ardent’; December 2017)
    • ROS 2 Bouncy Bolson (codename ‘bouncy’; June 2018)
    • ROS 2 Crystal Clemmys (codename ‘crystal’; December 2018)
    • ROS 2 Dashing Diademata (codename ‘dashing’; May 31st, 2019)
    • ROS 2 Eloquent Elusor (codename ‘eloquent’; November 22nd, 2019)
    • ROS 2 Foxy Fitzroy (codename ‘foxy’; June 5th, 2020)
    • ROS 2 Galactic Geochelone (codename ‘galactic’; May, 2021)
    • ROS 2 Galactic Geochelone Complete Changelog
    • ROS 2 Humble Hawksbill (codename ‘humble’; May, 2022)
    • ROS 2 Rolling Ridley (codename ‘rolling’; June 2020)
  • Features Status
  • Roadmap
  • Feature Ideas
  • Project Governance
    • ROS 2 Technical Steering Committee Charter
    • ROS 2 TSC applicant intake process
    • How to Start a Community Working Group
  • Marketing Materials
  • Related Projects
    • Intel ROS 2 Projects
    • NVIDIA ROS 2 Projects
  • Glossary
ROS 2 Documentation: Galactic
  • »
  • Tutorials »
  • URDF Tutorials
  • 在 GitHub 上修改

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
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Galactic (latest)
Foxy
Eloquent (EOL)
Dashing
Crystal (EOL)
In Development
Xin
Rolling