ros2/ros+urdf文件官方资料+标签解释

https://wiki.ros.org/urdf/XML

XML Specifications

1. robot

   Describes all properties of a robot.

2. sensor/proposals

   Describes a sensor, such as a camera, ray sensor, etc

3. link

   Describes the kinematic and dynamic properties of a link.

4. transmission

   Transmissions link actuators to joints and represents their mechanical coupling

5. joint

   Describes the kinematic and dynamic properties of a joint.

6. gazebo

   Describes simulation properties, such as damping, friction, etc

7. sensor

   Describes a sensor, such as a camera, ray sensor, etc

8. model_state

   Describes the state of a model at a certain time

9. model

   Describes the kinematic and dynamic properties of a robot structure.