URDF from joint_states

Hi everybody!

I am wondering if there is a way to generate the URDF model of my robot starting from the jointstates or tf messages. The fact is that I have the single parts of my robot in STL format, and I have the kinematic too. Now I need to obtain the URDF model of the robot to use it with MoveIT! ( I understand that usually the way is to generate URDF from STL and then use th e robotstatepubilsher to obtain the jointstates message, but I have only my custom robot unassembled).

Thank you!

Asked by pacifica on 2016-08-28 09:20:41 UTC

Comments

I understand that usually the way is to generate URDF from STL and then use th e robot_state_pubilsher to obtain the joint_states message

It's actually the other way around: encoders -> joint_states + urdf into robot_state_publisher == TF frames. Without kinematics, that is not possible.

Asked by gvdhoorn on 2016-08-29 05:54:51 UTC

If you are talking about deriving kinematics from joint space sensor data, then that would be possible, but I don't know of any ROS packages implementing that. I've seen it done, but afaik, there's no re-usable solution in ROS for that.

Asked by gvdhoorn on 2016-09-02 02:36:45 UTC