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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

概述

这个功能包包含了机器人模型、传感器、场景等的 XML 规范。每个 XML 规范都提供一种或多种语言的解析器。

XML 描述文件

C++

Python

模型

model

Parser API Model API

传感器

sensor

组件

New in Hydro urdf由许多不同的功能包和组建构成。它们的关系如下图所示:

urdf_diagram.png

Hydro版本中URDF组件的当前状态:

入门

请参阅 教程 页面,学习使用 URDF 规范构建自己的机器人模型的详细教程。

我们还开发了一种名为 xacro 的宏语言,以方便维护机器人描述文件,提高可读性,并避免机器人描述文件中的重复。

示例

此页面 提供了一个列表,皆为 URDF 模型构建的机器人示例。

工具

验证工具

命令行工具 check_urdf 尝试将文件解析为 URDF 描述,并打印生成的运动链描述,或者错误信息。

例如,要在 pr2 urdf 上运行此工具,首先运行以下命令来创建 urdf 文件:

New in Indigo

然后运行 check 检查:

注意:您可能需要先运行安装命令 sudo apt-get install liburdfdom-tools

New in Hydro

然后运行 check 检查:

然后你会看到类似于这样的输出:

可视化

要获取 urdf 文件的graphviz 图,请执行以下操作:

New in Indigo 在 Indigo 版本中,urdf_to_graphiz 工具已经移至 liburdfdom-tools 软件包。如果你不能运行 urdf_to_graphiz,请先运行 sudo apt-get install liburdfdom-tools

New in Hydro

结果是产生一个名为 pr2.pdf 的文件,它看起来像这样:

graphiz.png

已知问题


2019-11-16 12:43