Robotics

ROS & Modeling

URDF, Xacro, RViz, MoveIt, and robot model validation workflows.

1 article Latest update May 14, 2026

Articles

May 14, 2026

Writing A Robot As A Verifiable Tree: URDF From Structural Modeling To Tooling

A practical route for understanding, validating, and improving robot description files across links, joints, frames, URDF/Xacro, robot_state_publisher, RViz, and MoveIt.