Professional Documents
Culture Documents
Muhammed R. Yavuz
muhammed@my.ingeniarius.pt
6th of August 2018
• Robot Models, Meshes, Worlds and Description Formats
• What is URDF?
AGENDA •
•
Structure of URDF
Usage in ROS
• Running RobotCraft 2018 URDF File
FORMATS • Link
• Inertia
• Google Sketchup
• 123 Design
• Collision • Many others
• Visual • Materials
NOTE: • Joint
xyz – represents the offset • Collision vs. Visual
defaults to zero vector • Plugins
rpy - represents the rotation (roll, pitch, yaw) • Export to Collada (DAE) format
• Sensors, Motor Controllers, etc
defaults to identity to use in ROS
WHAT IS
URDF?
More info
http://wiki.ros.org/urdf
http://wiki.ros.org/xacro
More info
http://wiki.ros.org/urdf/XML/model
More info
http://wiki.ros.org/urdf/XML/model
USAGE IN A
ROS (R2D2
Tutorial on
ROS Wiki)
More info
http://wiki.ros.org/urdf/Tutorials
RUNNING
ROBOTCRAFT
2018 ROBOT IN
RVIZ
• Available on Moodle
• DURING THE WEEK YOU WILL ADD THE UNIQUE
COVER OF YOUR ROBOT !!!