What is URDF Ros?

The Unified Robotic Description Format (URDF) is an XML file format used in ROS to describe all elements of a robot. To use a URDF file in Gazebo, some additional simulation-specific tags must be added to work properly with Gazebo.

What is URDF model?

The URDF (Universal Robot Description Format) model is a collection of files that describe a robot’s physical description to ROS. These files are used by a program called ROS (Robot Operating System) to tell the computer what the robot actually looks like in real life.

What is link in URDF?

element The link element describes a rigid body with an inertia, visual features, and collision properties.

How do you visualize URDF in RVIZ?

updated Jul 25 ’14

  1. Create a new catkin package named “myrobot_description” with dependencies on the urdf package.
  2. Create a folder urdf in the folder myrobot_description/urdf.
  3. Create a valid URDF-File (as far as check_urdf is concerned)
  4. Build the package with catkin_make install.

How do you make your own URDF?

  1. So, just creating the structure is very simple!
  2. Update your file my_urdf.xml and run it through the parser:1 $ rosrun urdf_parser check_urdf my_urdf.xml.
  3. Update your file my_urdf.xml and run it through the parser:1 $ rosrun urdf_parser check_urdf my_urdf.xml.
  4. That’s it, you created your first URDF robot description!

Does gazebo need Ros?

Gazebo robotics simulator with ROS. Gazebo is a 3D simulator, while ROS serves as the interface for the robot. Combining both results in a powerful robot simulator. With Gazebo you are able to create a 3D scenario on your computer with robots, obstacles and many other objects.

How do I create a URDF file in Ros?

Create your own urdf file

  1. Create the tree structure.
  2. Add the dimensions.
  3. Completing the Kinematics.

What is Rpy in URDF?

3.2. rpy (optional: defaults to identity if not specified) Represents the fixed axis roll, pitch and yaw angles in radians. In a short word : rpy is x, y, z axis clockwise rotation degree respectively.

What is the difference between RVIZ and gazebo?

The difference between the two can be summed up in the following excerpt from Morgan Quigley (one of the original developers of ROS) in his book Programming Robots with ROS: “rviz shows you what the robot thinks is happening, while Gazebo shows you what is really happening.”

How do you make a robot with URDF?

  1. Create your first URDF Model. Go from a physical robot to a visual virtual model.
  2. Adapt URDF for Gazebo Simulator. Add the collisions, inertias, and gazebo physical properties.
  3. URDF + XACRO. Use XACROs in order to simplify a URDF file.
  4. Create your own Jibo. Create a Jibo robot from scratch and simulate it in Gazebo.

How does Gazebo integrate with ROS?

For ROS 2, see ROS 2 integration overview….Running Gazebo

  1. rosrun gazebo_ros gazebo launch both the Gazebo server and GUI.
  2. rosrun gazebo_ros gzclient launch the Gazebo GUI.
  3. rosrun gazebo_ros gzserver launch the Gazebo server.

What is the difference between RVIZ and Gazebo?

What is the minimum number of faces per link in urdf?

For collision checking using the ROS motion planning packages, as few faces per link as possible are recommended for the collision meshes that you put into the URDF (ideally less than 1000). If possible, approximating the meshes with other primitives is encouraged.

Where can I find the meshes for this tutorial?

The meshes here were borrowed from the PR2. They are separate files which you have to specify the path for. You should use the package://NAME_OF_PACKAGE/path notation. The meshes for this tutorial are located within the urdf_tutorial package, in a folder called meshes. The meshes can be imported in a number of different formats.

What is the best file format for a mesh file?

Any geometry format is acceptable but specific application compatibility is dependent on implementation. The recommended format for best texture and color support is Collada .dae files. The mesh file is not transferred between machines referencing the same model.

What is the best resolution for collision mesh?

Recommended Mesh Resolution. For collision checking using the ROS motion planning packages, as few faces per link as possible are recommended for the collision meshes that you put into the URDF (ideally less than 1000). If possible, approximating the meshes with other primitives is encouraged.

Categories: Users' questions