add a new robot to ROS

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Thank you for your answer

it's for visual robots, I think this is not my case, I need to integrate a real robot like Adept Cobra this is just an example. it already has a program to use it but I would like to integrate it with ros. thank you

@nachatad URDF files are for more than just visualization. You can use them to publish the tf of your robot (which is useful for many things) via robot_state_publisher. You'll probably want to take a look at the link that @Airuno2L posted

You also define motors, transmissions, controllers, sensors, etc in the URDF. It is how your robot will interact with ROS.

Thank you for your support