URDF

URDF (Unified Robot Description Format) is a file format for specifying the geometry and organization of robots in ROS. A URDF file follows the XML format as described on here.

• Building a visual robot model from scratch
• Building a movable robot model
• Adding physical and collision properties
• Using Xacro to clean up your code
• Using URDF with robot_state_publisher (C++)
• Using URDF with robot_state_publisher (Python)
• Generating an URDF File