URDF, XACRO and Gazebo

URDF

xacro

Gazebo classic

Gazebo harmonic

URDF

Quick run rviz

Quick visualize and manipulate URDF file using RVIZ and joint state publisher

sudo apt install ros-humble-urdf-tutorial

ros2 launch urdf_tutorial display.launch.py model:=/gz_tutorial_description/urdf/my_robot.urdf

more arguments

• rvizconfig: absolute path to rviz config

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ToRead

• QoS mismatch between gazebo_ros_camera and gazebo_ros_video