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What are the uses of a URDF?

I'd really appreciate more of an academic answer that lists all the usages. Let me clarify my question. I am looking for a list of common usages or a URDF robot model in a typical ROS situation. For example, i know that a URDF is used with robotstatepublisher package to publish information about the robot during run-time. What are some other usages?

Asked by Mahmoud Abdul Galil on 2016-10-02 04:11:05 UTC

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Could you tell us what your main interest is here?

Asked by gvdhoorn on 2016-10-02 04:30:21 UTC

Let me clarify my question. I am looking for a list of common usages or a URDF robot model in a typical ROS situation. For example, i know that a URDF is used with robot_state_publisher package to publish information about the robot during run-time. What are some other usages?

Asked by Mahmoud Abdul Galil on 2016-10-02 04:52:28 UTC

This is a hard question to answer because URDF is general purpose. If you could describe why you're asking you might get the answer you're looking for.

Asked by Airuno2L on 2016-10-03 14:34:55 UTC

Answers

You can add objects to the collision scene so MoveIt plans around them, instead of (possibly) colliding into them.

Asked by AndyZe on 2016-10-03 14:24:01 UTC

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