URDF (Unified Robot Description Format) does not define its own set of message types. Instead, URDF relies on standard ROS (Robot Operating System) message types to exchange data and information. Therefore, the available ROS message types can be used with URDF models in ROS-based systems.
Here are some commonly used ROS message types that are often used in conjunction with URDF:
sensor_msgs/JointState: Represents the state of joints in a robot or vehicle, including positions, velocities, and efforts.sensor_msgs/Imu: Provides data from an Inertial Measurement Unit (IMU), including orientation, angular velocity, and linear acceleration.sensor_msgs/LaserScan: Represents data from a laser scanner, providing range measurements and associated information.sensor_msgs/Image: Represents an image, commonly used for camera data.geometry_msgs/TransformStamped: Represents a transformation between two coordinate frames, commonly used for publishing the transformations between the links and joints in a URDF model.nav_msgs/Odometry: Provides vehicle odometry information, including position, velocity, and orientation.geometry_msgs/Twist: Represents linear and angular velocities, often used to specify the desired velocity commands for robot motion.
Additionally, there are numerous other ROS message types available for various data types and applications. You can refer to the ROS documentation, specifically the package documentation for each message type, to explore the full list of available ROS message types and their details.
When working with URDF models in ROS2, you can use these message types to represent joint states, sensor data, transformations, and other relevant information, allowing for effective communication and interaction with the URDF-based robot or vehicle.