Create & edit URDF files. Built on top of Rviz.

mkdir -p catkin_ws/src
git clone git@github.com:ilidar/urdf_editor.git catkin_ws/src/urdf_editor
cd catkin_ws
catkin build
source devel/setup.zsh

roslaunch urdf_editor urdf_editor.launch

• Link UI
  • Inertial
  • Visual
  • Collision
  • Multiple visuals/collisions
  • Connect two links
  • Change joint type
  • Change joint parent
  • Joint calibration/dynamics/mimic/safety
  • Fix material color bug
  • Material texture loading
• URDF UI
  • Add link to selected link
  • Remove link
  • Select and highlight link on robot
  • Show/hide checkbox
  • SaveAs button
  • Path to current URDF file ?
  • Show/hide collision/visual
  • Joint sliders
  • Move link/joint/visual via OGRE
• Gazebo
• Transmission
• Properties
• Material Library
• URDF Library
• Xacro support