How to Create URDF and Launch Files in ROS2- Minimal Working Example

#ros2 #ros #robotoperatingsystem #robotics #controltheory #controlengineering #machinelearning #automation #electricalengineering #mechanicalengineering #mechatronics
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In this Robot Operating System 2 (ROS2) tutorial we explain how to write a minimal working example of creating a URDF model as well as a launch file and displaying the URDF model in Rviz.
The main motivation for this tutorial is that you can hardly find online and on YouTube a concise and self-contained tutorial explaining how to write URDF and launch files in ROS2, and how to correctly display the URDF model in Rviz. There are a number of tutorials explaining this process in ROS version 1. However, there are no concise tutorials explaining how to do this in ROS version 2.
Consequently, for people who are completely new to ROS2, this process can be very difficult. To fill in this knowledge gap, we created this video tutorial. In order to provide a minimal working example, the URDF model developed in this tutorial is very simple. It is a single cylinder. You can easily develop more complex and realistic models by following the ideas presented in this tutorial.
Also, we have noticed that some students watching this channel expect that we will provide links to code files developed in this tutorial such that they can simply copy and paste the code. This is not a good programming practice! By simply copying and pasting the code that someone else wrote for you, you will never understand and properly learn ROS2. The proper way of watching this tutorial is to listen to our explanations and understand every step. You can simply pause the video and type the commands we are explaining in your terminal or Python editor.