Conclusion

Topics in this Tutorial

• Writing URDF files using XML format .urdf files

• Using URDF files to describe the physical properties of a robot

• Describing rigid body poses using links (coordinate frames) and joints (transformations)

• Adding visual information through use of links

• Additional information is available for simulations, such as Collisional and Inertial properties

• All these properties can be viewed in RVIZ

A topic which was not covered here was the use of **xacro**. This functionality enables a urdf to have variables and include other files, this generally makes them easier to edit and easier to read.