This repo contains an example of a URDF file and a launch script to run it. (ROS 2) This is part of a tutorial on creating URDF files, available at the links below:

YouTube:

Blog Post: https://articulatedrobotics.xyz/ready-for-ros-7-urdf/

1. Build the package with colcon.
2. Launch the robot_state_publisher launch file with ros2 launch urdf_example rsp.launch.py.
3. Launch joint_state_publisher_gui with ros2 run joint_state_publisher_gui joint_state_publisher_gui. You may need to install it if you don't have it already.
4. Launch RViz with rviz2

To replicate the RViz display shown in the video you will want to

• Set your fixed frame to world
• Add a RobotModel display, with the topic set to /robot_description, and alpha set to 0.8
• Add a TF display with names enabled.