Learning ROS: Aboat URDF (Unified Robot Description Format)

Building a Visual Robot Model with URDF from Scratch

roscore &
# With $(find urdf_tutorial), this command can be executed in any directory.
roslaunch urdf_tutorial display.launch model:='$(find urdf_tutorial)/urdf/01-myfirst.urdf'

# A simpler launch comand, but must run from the urdf_tutorial package directory
roscd urdf_tutorial/
roslaunch urdf_tutorial display.launch model:=urdf/01-myfirst.urdf
roslaunch urdf_tutorial display.launch model:=urdf/02-multipleshapes.urdf
roslaunch urdf_tutorial display.launch model:=urdf/03-origins.urdf # Material Girl
roslaunch urdf_tutorial display.launch model:=urdf/04-materials.urdf
roslaunch urdf_tutorial display.launch model:=urdf/05-visual.urdf # Finishing the Model

 Building a Movable Robot Model with URDF

roslaunch urdf_tutorial display.launch model:=urdf/06-flexible.urdf