Robotics Stack Exchange
Robotics Stack Exchange

Questions tagged [urdf]

Unified Robotics Description Format, URDF, is an XML specification used in academia and industry to model multibody systems such as robotic manipulator arms for manufacturing assembly lines and animatronic robots for amusement parks.

URDF, Unified Robot Description Format is an XML format for representing a robot model. URDF is commonly used in Robot Operating System (ROS) tools such as rviz and Gazebo simulator. The model consists of links and joints motion.

URDF is XML, which is a text format. So you can create the files in any text editor. An IDE with good XML support is recommended.

See also:

758 questions
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is inertia important?

Like do we need to add inertia to urdf, like when I just set it 0 it still works but when I set to some value it explodes. Originally posted by harish556 on ROS Answers with karma: 74 on 2021-05-31 Post score: 0
harish556
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robot jumps when spawn

when ever robot is spawn into gazebo it jumps there is the video below https://drive.google.com/file/d/1h_KuQWqSG-fN56pFwcY_P6YahA0ftZVe/view?usp=sharing edit …
harish556
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Using pi in an URDF file

We want to use the value of pi in an URDF file, since we have to rotate a model by 90 degrees. Is there any builtin macro for pi in URDF? At the moment we are simply using our own M_PI macro, but it would be nice to know what the intended way of…
MatthiasLoebach
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URDF tutorial help

I'm trying to learn ROS and URDF. I am looking into this tutorial but I am immediately lost at the second step where I am supposed to execute the launch file. In other words, I'm supposed to execute : > $ roslaunch urdf_tutorial display.launch…
sisko
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Include model in robot URDF

I have downloaded a model of a kinect with functioning plugins. How can I add this model into my existing urdf? Thanks, L Originally posted by luketheduke on ROS Answers with karma: 285 on 2017-05-26 Post score: 0 Original comments Comment by…
luketheduke
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URDF joint problem

I have created a URDF for IRB4600 60_2-05. When i checked the URDF with the original robot and echo the joint_state topic to see the joint positions. All joints matches with the positions with the positions of joints in real teach pendant of ABB…
Muneeb
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1 answer

STEP files for URDF model

Dear Ros Users, I am trying to write an URDF model for Robotiq 2F-140 gripper. http://support.robotiq.com/pages/viewpage.action?pageId=5963876 Unfortunately only STEP files are provided. Is there a way to use these files to create an URDF file…
Rahndall
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Using a URDF in Gazebo

I have been following the URDF tutorials guide. However I got to the page on using URDF in Gazebo: http://wiki.ros.org/urdf/Tutorials/Using%20a%20URDF%20in%20Gazebo Unfortunately this page seems to be missing the launch file referred to in Section…
biglotusturtle
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2 answers

Ball joint in URDF

Hello, guys I'd like to know how do I create a 3D ball joint using URDF. I've tried some approaches like trying to create a dummy link, but I had no success. In my project I have a quadrotor and a ball, I'd like to fix them, so the quad could roll,…
PedroHRPBS
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package (need URDF file) for ABB IRB4600-60/2.05? OR What is the way to get .stl files for collision of links of robot (ABB IRB4600)?

I am new to ROS. I am trying to develop the URDF file for ABB IRB4600-60/2.05 robot but i am not understanding how to create collision models (meshes > collision (.stl files). Please let me know the way ..should i need to develop by own through CAD…
Muneeb
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What's an example of a robot that has both a URDF and DH parameters available?

I'm looking for a robot model that has both a URDF, as well as DH parameters available. I was wondering if anyone can make any suggestions? Google is failing me... Originally posted by HD7199b on ROS Answers with karma: 3 on 2016-11-23 Post score:…
HD7199b
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Changing link name causes parse error

I'm trying to follow the beginner's tutorial shown here: http://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch For some reason, if I change the name of a link—e.g., from "right_leg" to "leg"—I get a…
not_a_robot
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2 answers

Minimum requirement to view urdf in RViz?

Hi, I am learning build 3D model with urdf. I am following the book "Mastering ROS for robotics programming". I am confused since all of tutorials relating to urdf, I found online, require to start with a built package. I would like to know if I…
Thang Nguyen
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Is there any URDF plugin available for Autodesk Fusion 360?

Hey There, I am currently using Solidworks to model a Robotic Arm, and "SW2URDF" plugin to generate the URDF file( so that I can run that in Gazebo and Rviz). But I wish to switch to Autodesk Fusion 360. Is there any URDF plugin available for…
Ashwin Balaram B
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Using Urdf build a robot in rviz

Hi,I am new in ROS....and forget my broken english. Now I am build a robot via Urdf,but when I done all the process,open rviz, and the joint who isn't fixed was run in error: No transform from [left_wheel] to [base_link] No transform from…
Xyden
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