🚀 ROS 2 URDF Template

This repository provides a minimal, well-structured ROS 2 package to help you get started with robot description using URDF and Xacro. It includes sample launch files, RViz configurations, and tools to simulate and visualize your robot.

The folder URDF_template inside <your-file>/src/ contains everything needed to describe and visualize a basic robot model in ROS 2.

📁 File Structure

<your-file>/
└── src/
    └── URDF_template/
        ├── launch/
        │   └── sample.launch.py
        ├── description/
        │   └── robot_core.xacro
        ├── worlds/
        │   └── empty.world
        ├── config/
        │   └── empty.yaml
        ├──CMakeLists.txt
        ├── package.xml
        └── README.md

✏️ Renaming the Package

If you'd like to rename URDF_template to something else (e.g., my_robot_description), make sure to update it in the following places:

• launch/sample.launch.py: Replace URDF_template in any package or node references.
• CMakeLists.txt: Update the project() name and any relative paths.
• package.xml: Change the <name> tag.
• Rename the folder inside src/ to match your new package name.

🛠️ Build Instructions

Once you've made the necessary changes, build the workspace and source it:

cd <your-file>
colcon build
source install/setup.bash

Now you're ready to launch and simulate your robot! before that you have to BUILD it

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