urdf Documentation

urdf

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.

urdf::Model is a class containing robot model data structure. Every Robot Description File (URDF) can be described as a list of Links (urdf::Model::links_) and Joints (urdf::Model::joints_). The connection between links(nodes) and joints(edges) should define a tree (i.e. 1 parent link, 0+ children links).

  • Here is an example Robot Description Describing a Parent Link 'P', a Child Link 'C', and a Joint 'J'
      <joint name="J" type="revolute">
        <dynamics damping="1" friction="0"/>
        <limit lower="0.9" upper="2.1" effort="1000" velocity="1"/>
        <safety_controller soft_lower_limit="0.7" soft_upper_limit="2.1" k_position="1" k_velocity="1" />
        <calibration reference_position="0.7" />
        <mimic joint="J100" offset="0" multiplier="0.7" />
    
        <!-- origin: origin of the joint in the parent frame -->
        <!-- child link frame is the joint frame -->
        <!-- axis is in the joint frame -->
        <origin xyz="0 0 0" rpy="0 0 0"/> 
        <axis xyz="0 1 0"/> 
        <parent link="P"/>
        <child link="C"/>
      </joint>
    
      <link name="C">
        <inertial>
          <mass value="10"/>
          <origin xyz="0 0 0" rpy="0 0 0"/>
          <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
        </inertial>
    
        <visual>
          <origin xyz="0 0 0" rpy="0 0 0"/>
          <geometry>
            <box size="1 1 1"/>
          </geometry>
          <material name="Green"/>
        </visual>
    
        <collision>
          <origin xyz="0 0 0" rpy="0 0 0"/>
          <geometry>
            <box size="1.01 1.01 1.01"/>
          </geometry>
          <contact_coefficient mu="0"  resitution="0"  k_p="0"  k_d="0" />
        </collision>
      </link>
    
      <material name="Green">
        <texture filename="...texture file..." />
        <!--color rgb="255 255 255" /-->
      </material>

Code API

The URDF parser API contains the following methods:



urdf
Author(s): Ioan Sucan , Jackie Kay
autogenerated on Mon May 11 2020 03:44:42