urdf_tutorial
- Software
- Middleware
- Tool
A set of step-by-step tutorials for learning to write URDF robot models, from a visual model to movable joints, physical properties and Xacro cleanup.
Made by ROS core stacks.
Source on GitHub: github.com/ros/urdf_tutorial (opens in a new tab). Facts read at commit 050f1e4 (opens in a new tab).
Licenses
- Code
- BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 050f1e4 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Shows how to build a visual robot model in URDF that can be viewed in Rviz.
- Explains how to define movable joints in a URDF model.
- Covers adding collision and inertial properties to links and joint dynamics to joints.
- Demonstrates using Xacro to reduce the amount of code in a URDF file.
- Points to a companion tutorial on spawning and controlling a URDF robot in Gazebo.
Written by Robotheca from the project's README (opens in a new tab) at commit 050f1e4.
Getting started
- Difficulty
- Beginner
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 7 Apr 2026 on ros2
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots on Robotheca that use it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.