For a two wheeled robot:
catkin_ws\src\ git clone https://github.com/ros-controls/urdf_geometry_parser.git
Install Urdf and Xacro:
sudo apt install ros-noetic-joint-state-publisher-gui
sudo apt install ros-noetic-xacro
Add tools for URDF:
sudo apt install liburdfdom-tools
Check URDF model:
xacro ~/catkin_ws/src/motor_ros2/urdf/robot.urdf.xacro > ~/catkin_ws/src/motor_ros2/urdf/robot.urdf && check_urdf ~/catkin_ws/src/motor_ros2/urdf/robot.urdf
Update SO (if you found errors with xacro macros):
sudo apt-get update
sudo apt-get upgrade
