My apologies. I'd somehow completely missed you were actually asking about/for a suitable xacro/urdf for testing, instead of how to test. > Are there any simple xacro files for testing or even a parametrizable robot description? I'm not entirely sure I understand what you are asking for, but nodes such as `joint_state_publisher` include a nr of small urdfs that are used in the tests that accompany it. See [ros/joint_state_publisher/joint_state_publisher/test](https://github.com/ros/joint_state_publisher/tree/dc9205b1b92d3d51351ab89ba2cb4536f1124114/joint_state_publisher/test). The test suite for `xacro` is another: [ros/xacro/test](https://github.com/ros/xacro/tree/0ae956da439bde5dc3fe19d9abc06c618a5ef6e9/test). --- [Visit Topic](https://discourse.ros.org/t/ros-tests-with-robot-description/5696/4) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: