[Documentation] [TitleIndex] [WordIndex

  Show EOL distros: 

robot_model: collada_parser | collada_urdf | colladadom | convex_decomposition | ivcon | kdl_parser | resource_retriever | robot_state_publisher | simmechanics_to_urdf | urdf | urdf_interface | urdf_parser

Package Summary

This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases.

robot_model: collada_parser | collada_urdf | colladadom | convex_decomposition | ivcon | kdl_parser | resource_retriever | robot_state_publisher | simmechanics_to_urdf | srdf | urdf | urdf_interface | urdf_parser

Package Summary

This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases.

robot_model: angles | assimp | collada-dom | collada_parser | collada_urdf | common_msgs | convex_decomposition | curl | geometry | graphviz | ivcon | kdl_parser | orocos_kdl | resource_retriever | robot_state_publisher | ros | ros_comm | rosconsole_bridge | srdf | urdf | urdf_interface | urdf_parser | urdfdom | urdfdom_headers

Package Summary

This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases.

robot_model: collada_parser | collada_urdf | joint_state_publisher | kdl_parser | resource_retriever | urdf | urdf_parser_plugin

Package Summary

This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases.

robot_model: collada_parser | collada_urdf | joint_state_publisher | kdl_parser | resource_retriever | urdf | urdf_parser_plugin

Package Summary

This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases.

  • Maintainer status: maintained
  • Maintainer: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
  • Author: Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>
  • License: BSD
  • Bug / feature tracker: https://github.com/ros/urdf/issues
  • Source: git https://github.com/ros/urdf.git (branch: indigo-devel)
robot_model: collada_parser | collada_urdf | joint_state_publisher | kdl_parser | resource_retriever | urdf | urdf_parser_plugin

Package Summary

This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases.

robot_model: collada_parser | collada_urdf | joint_state_publisher | kdl_parser | resource_retriever | urdf | urdf_parser_plugin

Package Summary

This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases.

  • Maintainer status: maintained
  • Maintainer: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
  • Author: Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>
  • License: BSD
  • Bug / feature tracker: https://github.com/ros/urdf/issues
  • Source: git https://github.com/ros/urdf.git (branch: kinetic-devel)
robot_model: collada_parser | collada_urdf | joint_state_publisher | kdl_parser | resource_retriever | urdf | urdf_parser_plugin

Package Summary

This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases.

  • Maintainer status: maintained
  • Maintainer: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
  • Author: Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>
  • License: BSD
  • Bug / feature tracker: https://github.com/ros/urdf/issues
  • Source: git https://github.com/ros/urdf.git (branch: kinetic-devel)
robot: control_msgs | diagnostics | executive_smach | filters | geometry | joint_state_publisher | kdl_parser | kdl_parser_py | robot_state_publisher | ros_base | urdf | urdf_parser_plugin | xacro

Package Summary

This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases.

  • Maintainer status: maintained
  • Maintainer: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
  • Author: Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>
  • License: BSD
  • Bug / feature tracker: https://github.com/ros/urdf/issues
  • Source: git https://github.com/ros/urdf.git (branch: melodic-devel)

English

简体中文

Overview

This package contains a number of XML specifications for robot models, sensors, scenes, etc. Each XML specification has a corresponding parser in one or more languages.

XML Description

C++

Python

Model

model

Parser API Model API

Sensor

sensor

Components

New in Hydro A number of different packages and components make up urdf. The following diagram attempts to explain the relationship between these components:

urdf_diagram.png

Current Status of URDF Components in Hydro:

Getting Started

There is large set of tutorials on how to build up your own robot models using the URDF specification. Check out the urdf/Tutorials page.

We also developed a macro language called xacro to make it easier to maintain the robot description files, increase their readability, and to avoid duplication in the robot description files.

Examples

See this page for a list of robots described by a URDF model.

Tools

Verification

A command line tool check_urdf attempts to parse a file as a URDF description, and either prints a description of the resulting kinematic chain, or an error message.

For example, to run this tool on the pr2 urdf, first create the urdf file by running:

New in Indigo

Then run the check by running:

Note: You may need to run sudo apt-get install liburdfdom-tools.

New in Hydro

Then run the check by running:

Visualization

To get a graphviz diagram of your urdf file, do the following:

New in Indigo In Indigo, the urdf_to_graphiz tool has moved to the liburdfdom-tools package. You may need to run sudo apt-get install liburdfdom-tools if you can't use urdf_to_graphiz

New in Hydro

The result is a file called pr2.pdf that looks something like this:

graphiz.png

Known Issues


2019-10-12 13:15