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)
robot: control_msgs | diagnostics | executive_smach | filters | geometry | joint_state_publisher | kdl_parser | 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:

  • 核心的 URDF 解析器和数据结构体(urdfdom, urdfdom_headers)已经推向上游独立(无 ROS 依赖) 软件包,未来将在 Ubuntu 中独立发布,与 ROS 完全分离。
  • 当前,URDF 文件与 URDF 数据结构体有所差别。 URDF 文件遵循 ros.org.wiki 所描述的XML格式,而URDF数据结构体是一组能被解析成各种格式(目前有 URDF 和 Collada)的通用类。
  • 新的插件抽象层(urdf_parser_plugin)允许使用各种文件格式(目前有 URDF 和 Collada)填充URDF数据结构
  • ROS 功能包 urdf_parser 和 urdf_interface 已经在 Groovy 中弃用,并在 Hydro 中删除。

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:

  • rosrun xacro xacro.py `rospack find pr2_description`/robots/pr2.urdf.xacro -o /tmp/pr2.urdf

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

  • check_urdf pr2.urdf

New in Hydro

然后运行 check 检查:

  • rosrun urdfdom check_urdf /tmp/pr2.urdf

然后你会看到类似于这样的输出:

  • robot name is: pr2
    ---------- Successfully Parsed XML ---------------
    root Link: base_footprint has 1 child(ren)
        child(1):  base_link
            child(1):  base_laser_link
            child(2):  bl_caster_rotation_link
                child(1):  bl_caster_l_wheel_link
                child(2):  bl_caster_r_wheel_link
            child(3):  br_caster_rotation_link
                child(1):  br_caster_l_wheel_link
                child(2):  br_caster_r_wheel_link
            child(4):  fl_caster_rotation_link
                child(1):  fl_caster_l_wheel_link
                child(2):  fl_caster_r_wheel_link
            child(5):  fr_caster_rotation_link
                child(1):  fr_caster_l_wheel_link
                child(2):  fr_caster_r_wheel_link
            child(6):  torso_lift_link
                child(1):  head_pan_link
                    child(1):  head_tilt_link
                        child(1):  head_plate_frame
                            child(1):  sensor_mount_link
                                child(1):  double_stereo_link
                                    child(1):  narrow_stereo_link
     ...

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

  • urdf_to_graphiz pr2.urdf

New in Hydro

  • urdf_to_graphiz pr2.urdf

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

  • 未包含传感器模型的信息(除了 gazebo 中仿真的传感器之外)

Wiki: cn/urdf (last edited 2019-01-11 01:14:32 by Playfish)