Courses / fundamentals

ROS 2 URDF for Robot Modeling

beginner~10 hours11 lessonsEnvironment: docker

Prerequisites: ros2-tf

Start: Links, joints, and the robot descriptionPractice questions

Modules

Module 1 — URDF fundamentals
  1. 1Links, joints, and the robot description
  2. 2Visual, collision, and inertial
  3. 3Joint types
  4. 4Viewing in RViz with robot_state_publisher
Module 2 — Xacro
  1. 1Why raw URDF doesn't scale
  2. 2Properties and macros
  3. 3Splitting a robot into xacro files
Module 3 — A complete mobile robot
  1. 1Chassis and wheels
  2. 2Adding a lidar and camera
  3. 3Materials, colors, and meshes
  4. 4Project: model your own two-wheeled robot

Textbooks

Video resources

  • Making a mobile robot (URDF series) — Articulated Robotics