URDF Examples

URDF Documentation and Examples

The urdfdom_headers package provides a series of useful objects for robot hardware data. This document helps with two things:

• An outline of URDF objects, attributes, and methods.
• Examples for URDF ussage

URDF Outline

Joint.h

class: urdf::Joint

• Members:
  • public string name - Name identifying the joint
  • public enum type - The type of joint (UNKNOWN, REVOLUTE, CONTINUOUS, PRISMATIC, FLOATING, PLANAR, FIXED)
  • public string child_link_name - Name identifying child link
  • public string parent_link_name - Name identifying parent link
  • public Pose parent_to_joint_origin_tranform - Transformation from parent joint to joint frame
  • public JointDynamicsSharedPtr dynamics - boost shared pointer to joint's JointDynamics object
  • public JointLimitsSharedPtr limits - boost shared pointer to joint's JointLimits object
  • public JointSafetySharedptr safety - boost shared pointer to joint's JointSafety object
• Methods:
  • public void clear() - Assigns 0 (or analogous value) to all members

class: urdf::JointDynamics

• Members:
  • public double damping
  • public double friction
• Methods:
  • public void clear() - Assigns 0 to all members

class: urdf::JointLimits

• Members:
  • public double lower
  • public double upper
  • public double effort
  • public double velocity
• Methods:
  • public void clear() - Assigns 0 to all members

class: urdf::JointSafety

• Members:
  • public double soft_upper_limit
  • public double soft_lower_limit
  • public double k_position
  • public double k_velocity
• Methods:
  • public void clear() - Assigns 0 to all members

Examples