Crate robot_description_builder

Robot-description-builder 🦀

A Rust Crate for create (valid) Robot descriptions

robot-description-builder is a Rust crate for creating robot descriptions in multiple formats, like URDF, for use in various robotics and simulation applications such as ROS and Gazebo Simulator.

Installation

robot-description-builder can be installed from Crates.io using the following command:

$ carge add robot-description-builder

Features

• Support for the Full URDF spec, fully compatible starting at ROS Indigo. (Transmissions are different before ROS Indigo, other features should work)
  • Support for all base URDF geometry types: Box, Cylinder, Sphere and Mesh.
• Mirroring of Kinematic chains.
• Easy cloning/renaming Kinematic chains by changing the group_id.

🚧UNDER CONSTRUCTION: EXPAND FEATURE LIST🚧

Compatibility chart

Spec	Support	State
URDF	✔/🔩	Fully supported TRANSMISIONS ARE CURRENTLY INCORRECT
URDF Gazebo	🔩/❌	Extension unsupported, Base URDF compatibility avaible
SDF	❌	Planned

Using robot-description-builder

It is recommended to import only the items needed from the function or import the crate as rdb, since the crate name (robot_description_builder) is quite long.

use robot_description_builder as rdb;
use rdb::prelude::*;
// TODO: EXPAND

🚧UNDER CONSTRUCTION: EXAMPLE🚧

Documentation

The documentation for this Rust Crate can be found on docs.rs.

🚧UNDER CONSTRUCTION: DOCUMENTATION IS UNFINISHED🚧

Roadmap

• Improve documentation.
• Add shorthand Link constructors.
• Add (partial) support for SDFormat.
• Add support for the Gazebo URDF extension support.
• (Optional) Add (partial) support for the MIT Drake URDF extension

Lessons

🚧UNDER CONSTRUCTION: ADD LESSONS/DESIGN DECISIONS🚧

License

robot-description-builder is licensed under the MIT license.

Modules

• errors
  Error-types used in robot-description-builder.
• helper_functions
• identifiers
  TODO: GLOBAL DOCS
• joint_data
  TODO: Pub(crate) for now pub(crate) PUB FOR NOW FOR DOC TESTS????
• link_data
  All datatypes which a link can hold.
• linkbuilding
• material
  The Material System
• prelude
• to_rdf
  The infrastructure to describe a Robot in a robot description format.

Structs

• Chained
  A Wrapper to indicate if the current builder is a chain.
• Joint
• JointBuilder
• KinematicTree
  A representation of a basic Kinematic structure.
• Link
  A Link in a Kinematic Structure.
• Robot
• SmartJointBuilder
• Transform
  A Transform type to represent the transform from the parent coordinate system to a new coordinate system.

Enums

• JointType
  An enum to represent the the types of Joint.
• MirrorAxis
  A MirrorAxis enum to represent a plane to mirror about.

Traits

• KinematicInterface
  A trait which allows for the existance of multiple different Kinematic Structures, such as Robot and KinematicTree.