Tutorials and Documentation

Tutorials and Documentation

This page contains links to helpful tutorials for becoming familiar with the tools and software packages we use. The page may also contains links to documentation which inform how a software component can be used.

Tutorials

• ROS 2 Humble: We recommend following the beginner and intermediate sections of the tutorials. The advanced section is helpful but not necessarily relevant to what we currently do.

URDF / XACRO: XACRO is a specification that helps in writing modular components for describing virtual robot components. This helps reduce the amount of code you would need to write to fully describe a robot in pure URDF. Generally, we will write robot descriptions in XACRO and use tools to convert them into URDF during runtime before feeding the output to other components in our software architecture.

Documentation

• URDF
• XACRO