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.