You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Jazzy.

URDF

URDF (Unified Robot Description Format) is a file format for specifying the geometry and organization of robots in ROS.

• Building a visual robot model from scratch
• Building a movable robot model
• Adding physical and collision properties
• Using Xacro to clean up your code
• Using URDF with robot_state_publisher
• Generating an URDF File