In-Depth Analysis of ROS 2 Robot Model Description: URDF, Xacro, and Joint Transform Publishing

ROS 2 robot model description involves three parts: URDF, Xacro, and joint transform publishing. URDF defines the robot's link and joint structure, Xacro simplifies model authoring through macros and parameterization, and joint transform publishing connects the joint states in the model to the ROS 2 coordinate transform system.