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.