Create a URDF with ROS2 [1H Crash Course]

Create a complete URDF for a robot with ROS2. In this tutorial you will start from scratch and learn how to properly assemble links and joints + visualize the URDF in RViz.

⏱️ Chapters
(00:00) Intro
(01:33) Setup the URDF file
(03:03) Create and visualize your first link
(10:38) Material tags
(14:29) Add a link and a joint (full process)
(24:51) Visualize and introspect TFs
(27:03) Add the left wheel
(41:23) right wheel
(45:58) caster wheel
(51:06) base_footprint
(56:26) The final TF tree

[RoboticsBackEnd]

Thank you for watching!
🔥 To go further with URDF, and also TF, RViz, and Gazebo, check out this complete and step-by-step course:

[heinrichhelmbold]

Just signed up for your udemy courses and just want to say THANK YOU once again. You are by far once of the best teachers on ROS.

[HaTran-pujo]

It's good to see you back 🎉 Thanks for your sharing

[messerschmidtfpv]

Hello teacher, I'm looking forward to seeing something from you again.
the Level3 course is still waiting for me ;)
have a good and happy New Year.

[Faisal.khan]

Robot shown in white colour in Rviz, not updating as per code. What could be the reason?

[KillerRobotz]

Rviz vs Gazebo for simulation ? lets ask phind instead of asking a question that may take long to be answered by the youtuber

Using Rviz Alone: Ideal for visualizing data from either real-world robots or simulated environments without needing the full simulation capabilities of Gazebo. This setup is beneficial for debugging sensor data or understanding the robot's perception of its surroundings.

Using Gazebo Alone: Suitable for developing and testing robot behaviors in a simulated environment. Gazebo's physics engine allows for detailed simulations of robot movements and interactions, which can be crucial for algorithm development and testing before deploying on real hardware

[alexfernandesportrai]

Hello, I have built a differential drive robot using code from a github repo. The robot is using ros2 humble on a RaspberryPi4. When I run the rviz visualization on my PC, rviz is connected to the odom frame of the actual robot, forward and backward movements of the actual robot show as rotation in rviz. Similarly, left and right rotation show as forward and backward in rviz. My lidar laser frameis reversed and the camera image is upside-down. I tried to make changes in the robot.core.xacro that the urdf.xacro uses for the robots parameters. That did not work. Could you give me a hint on what I am doing wrong?

[ismailabi]

hello sir, i appreciate your work. I've watched your ROS1 tutorial it was usefull. I am developing a robo-taxi with my group. Using Vlp-16 lidar and Lego-loam for SLAM. When I try the Lego-Loam on gazebo it starts to drift. But in ".bag" files it reads correctly and when I use octomap for map the bag file it doesn't start mapping. Giving me message filter error. I'm completely lost. I appreciate all ideas thank you.

[Mecha_Hacks]

I have an issue simulating the urdf files generated in solidworks on ros2 humble, can anyone help me out?

[anjanikala]

at time duration 40:21, (line 41) you wrote rotation of 90 degree for link (left wheel). My question is, instead of mentioning the rotation here what if I mention in line 55, rotation of 90 degree for joint. What difference does it make?

[abdennourzeghida]

Hi, how to control right/left wheels of diffirential drive