URDF Viewer

Drag and drop a Unified Robot Description Format (URDF) file to visualize it.

Select a sensor_msgs/JointState or sensor_msgs/msg/JointState topic to update the visualization based on the published joint states. This topic will default to /joint_states.

Toggle to Manual joint control to set joint positions using the provided controls.

URDF viewer panel

When connected to a live ROS system, the panel will also display the /robot_description parameter.