urdf_tutorial

Description

This package contains a number of URDF tutorials.

Software Architecture

Software architecture description

1. Building a Visual Robot Model with URDF from Scratch Learn how to build a visual model of a robot that you can view in Rviz

2. Building a Movable Robot Model with URDF Learn how to define movable joints in URDF

3. Adding Physical and Collision Properties to a URDF Model Learn how to add collision and inertial properties to links, and how to add joint dynamics to joints.

4. Using Xacro to Clean Up a URDF File Learn some tricks to reduce the amount of code in a URDF file using Xacro

5. Using a URDF in Gazebo Preliminary tutorial on how to spawn and control your robot in Gazebo.

input:

urdf_tutorial/
├── CHANGELOG.rst
├── CMakeLists.txt
├── images
│   ├── flexible.png
│   ├── materials.png
│   ├── multipleshapes.png
│   ├── myfirst.png
│   ├── origins.png
│   └── visual.png
├── launch
│   └── display.launch
├── meshes
│   ├── l_finger_color.tif
│   ├── l_finger.dae
│   ├── l_finger_tip_color.tif
│   └── l_finger_tip.dae
├── package.xml
├── README.md
├── rviz
│   ├── urdf.rviz
│   └── urdf.vcg
└── urdf
    ├── 01-myfirst.urdf
    ├── 02-multipleshapes.urdf
    ├── 03-origins.urdf
    ├── 04-materials.urdf
    ├── 05-visual.urdf
    ├── 06-flexible.urdf
    ├── 07-physics.urdf
    └── 08-macroed.urdf.xacro

Installation

1. Download RPM

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-catkin/ros-noetic-ros-urdf_tutorial-0.5.0-1.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-catkin/ros-noetic-ros-urdf_tutorial-0.5.0-1.oe2203.x86_64.rpm

2. Install RPM

aarch64:

sudo rpm -ivh ros-noetic-ros-urdf_tutorial-0.5.0-1.oe2203.aarch64.rpm --nodeps --force

x86_64:

sudo rpm -ivh ros-noetic-ros-urdf_tutorial-0.5.0-1.oe2203.x86_64.rpm --nodeps --force

Instructions

Dependence installation

sh /opt/ros/noetic/install_dependence.sh

Exit the following output file under the /opt/ros/noetic/ directory , Prove that the software installation is successful

urdf_tutorial/
├── cmake.lock
├── env.sh
├── lib
│   └── pkgconfig
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
├── setup.zsh
└── share
    └── urdf_tutorial

Contribution

1. Fork the repository
2. Create Feat_xxx branch
3. Commit your code
4. Create Pull Request

Gitee Feature

1. You can use Readme_XXX.md to support different languages, such as Readme_en.md, Readme_zh.md
2. Gitee blog blog.gitee.com
3. Explore open source project https://gitee.com/explore
4. The most valuable open source project GVP
5. The manual of Gitee https://gitee.com/help
6. The most popular members https://gitee.com/gitee-stars/