Robot Operating System (ROS)

  1. Robot Modeling and Description
    1. Universal Robot Description Format (URDF)
      1. Purpose and Applications
        1. XML-based Description
          1. File Organization
            1. URDF Limitations
            2. URDF XML Specification
              1. robot
                1. Root Element
                  1. Robot Properties
                  2. joint
                    1. Joint Definition
                      1. Joint Types
                        1. Joint Limits
                          1. Joint Dynamics
                            1. Joint Calibration
                            2. Material
                              1. Color and Texture
                                1. Material Properties
                                2. Gazebo Extensions
                                  1. Simulation Properties
                                3. URDF Tools and Validation
                                  1. URDF Parsing
                                    1. Validation Tools
                                      1. Visualization Tools
                                      2. Xacro (XML Macros)
                                        1. Purpose and Benefits
                                          1. Macro Definition
                                            1. Property Definition
                                              1. Conditional Statements
                                                1. Mathematical Operations
                                                  1. File Inclusion
                                                    1. Converting Xacro to URDF
                                                    2. Advanced Robot Modeling
                                                      1. Complex Kinematic Chains
                                                        1. Sensor Integration
                                                          1. Actuator Modeling

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                                                        10. Coordinate Frames and Transformations

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                                                        12. Simulation and Testing