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Module urdf

dynamics_parse

Module urdf 

Source
Expand description

Parser for the URDF (Unified Robot Description Format) file format.

§Overview

This module provides functionality to parse URDF files and build corresponding Model and GeometryModel objects. The parser is implemented from scratch, and does not rely on any existing URDF parsing library. Is uses roxmltree for XML parsing, the extraction of parameters being done manually.

§Joints

The following joint types are supported:

  • Fixed
  • Revolute
  • Continuous
  • Prismatic

§Meshes

The parser supports mesh geometries in any format. The visualizers used might have limitations on the supported formats. Mesh paths can be resolved in three ways:

  • using absolute paths;
  • using ROS’s package:// (or package:///) syntax, as long as the package name is present in the environment variable ROS_PACKAGE_PATH;
  • using a user-provided package directory, passed as an argument to the parsing function.

§Tested models

The parser has been tested at least on all models from example-robot-data. However, some URDF features are still missing, hence some other models might not be parsed correctly yet.

Functions§

build_models_from_urdf
Parses a URDF file and builds the corresponding Model and GeometryModel.