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It looks like http://wiki.ros.org/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher#Launch_File is outdated but the basic approach is valid- TODO fix it.

It should look like this:

<?xml version="1.0"?>
<launch>
  <arg name="model" default="model.urdf"/>
  <param name="robot_description" textfile="$(arg model)" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
</launch>

And the urdf I had to add an inertia-less base_link:

<?xml version="1.0"?>
<robot name="r2d2">

<link name="base_link">
</link>

<joint name="basec" type="fixed">
  <origin xyz="0 0 0" />
  <parent link="base_link"/>
  <child link="main_axis"/>
</joint>


<link name="main_axis">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>
  <visual>
    <origin xyz="0 0 0" rpy="1.57 0 0" />
    <geometry>
      <cylinder radius="0.01" length=".5" />
    </geometry>
    <material name="gray">
      <color rgba=".2 .2 .2 1" />
    </material>
  </visual>

  <collision>
    <origin xyz="0 0 0" rpy="1.57 0 0" />
    <geometry>
      <cylinder radius="0.01" length=".5" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<link name="leg1">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <origin xyz="0 0 -.3" />
    <geometry>
      <box size=".20 .10 .8" />
    </geometry>
    <material name="white">
      <color rgba="1 1 1 1"/>
    </material>
  </visual>

  <collision>
    <origin xyz="0 0 -.3" />
    <geometry>
      <box size=".20 .10 .8" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="leg1connect" type="fixed">
  <origin xyz="0 .30 0" />
  <parent link="main_axis"/>
  <child link="leg1"/>
</joint>

<link name="leg2">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <origin xyz="0 0 -.3" />
    <geometry>
      <box size=".20 .10 .8" />
    </geometry>
    <material name="white">
      <color rgba="1 1 1 1"/>
    </material>
  </visual>

  <collision>
    <origin xyz="0 0 -.3" />
    <geometry>
      <box size=".20 .10 .8" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="leg2connect" type="fixed">
  <origin xyz="0 -.30 0" />
  <parent link="main_axis"/>
  <child link="leg2"/>
</joint>

<link name="body">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <origin xyz="0 0 -0.2" />
    <geometry>
      <cylinder radius=".20" length=".6"/>
    </geometry>
    <material name="white"/>
  </visual>

  <collision>
    <origin xyz="0 0 0.2" />
    <geometry>
      <cylinder radius=".20" length=".6"/>
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="tilt" type="revolute">
  <parent link="main_axis"/>
  <child link="body"/>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <axis xyz="0 1 0" />
  <limit upper="0" lower="-.5" effort="10" velocity="10" />
</joint>

<link name="head">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <geometry>
      <sphere radius=".4" />
    </geometry>
    <material name="white" />
  </visual>

  <collision>
    <origin/>
    <geometry>
      <sphere radius=".4" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="swivel" type="continuous">
  <origin xyz="0 0 0.1" />
  <axis xyz="0 0 1" />
  <parent link="body"/>
  <child link="head"/>
</joint>

<link name="rod">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <origin xyz="0 0 -.1" />
    <geometry>
      <cylinder radius=".02" length=".2" />
    </geometry>
    <material name="gray" />

  </visual>

  <collision>
    <origin/>
    <geometry>
      <cylinder radius=".02" length=".2" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="periscope" type="prismatic">
  <origin xyz=".12 0 .15" />
  <axis xyz="0 0 1" />
  <limit upper="0" lower="-.5" effort="10" velocity="10" />
  <parent link="head"/>
  <child link="rod"/>
</joint>

<link name="box">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <geometry>
      <box size=".05 .05 .05" />
    </geometry>
    <material name="blue" >
      <color rgba="0 0 1 1" />
    </material>
  </visual>

  <collision>
    <origin/>
    <geometry>
      <box size=".05 .05 .05" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>
<joint name="boxconnect" type="fixed">
  <origin xyz="0 0 0" />
  <parent link="rod"/>
  <child link="box"/>
</joint>

</robot>

It looks like http://wiki.ros.org/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher#Launch_File is outdated but the basic approach is valid- TODO fix it.

It should look like this:

<?xml version="1.0"?>
<launch>
  <arg name="model" default="model.urdf"/>
  <param name="robot_description" textfile="$(arg model)" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
>
    <param name="use_gui" value="true" />
  </node>
</launch>

And the urdf I had to add an inertia-less base_link:

<?xml version="1.0"?>
<robot name="r2d2">

<link name="base_link">
</link>

<joint name="basec" type="fixed">
  <origin xyz="0 0 0" />
  <parent link="base_link"/>
  <child link="main_axis"/>
</joint>


<link name="main_axis">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>
  <visual>
    <origin xyz="0 0 0" rpy="1.57 0 0" />
    <geometry>
      <cylinder radius="0.01" length=".5" />
    </geometry>
    <material name="gray">
      <color rgba=".2 .2 .2 1" />
    </material>
  </visual>

  <collision>
    <origin xyz="0 0 0" rpy="1.57 0 0" />
    <geometry>
      <cylinder radius="0.01" length=".5" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<link name="leg1">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <origin xyz="0 0 -.3" />
    <geometry>
      <box size=".20 .10 .8" />
    </geometry>
    <material name="white">
      <color rgba="1 1 1 1"/>
    </material>
  </visual>

  <collision>
    <origin xyz="0 0 -.3" />
    <geometry>
      <box size=".20 .10 .8" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="leg1connect" type="fixed">
  <origin xyz="0 .30 0" />
  <parent link="main_axis"/>
  <child link="leg1"/>
</joint>

<link name="leg2">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <origin xyz="0 0 -.3" />
    <geometry>
      <box size=".20 .10 .8" />
    </geometry>
    <material name="white">
      <color rgba="1 1 1 1"/>
    </material>
  </visual>

  <collision>
    <origin xyz="0 0 -.3" />
    <geometry>
      <box size=".20 .10 .8" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="leg2connect" type="fixed">
  <origin xyz="0 -.30 0" />
  <parent link="main_axis"/>
  <child link="leg2"/>
</joint>

<link name="body">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <origin xyz="0 0 -0.2" />
    <geometry>
      <cylinder radius=".20" length=".6"/>
    </geometry>
    <material name="white"/>
  </visual>

  <collision>
    <origin xyz="0 0 0.2" />
    <geometry>
      <cylinder radius=".20" length=".6"/>
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="tilt" type="revolute">
  <parent link="main_axis"/>
  <child link="body"/>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <axis xyz="0 1 0" />
  <limit upper="0" lower="-.5" effort="10" velocity="10" />
</joint>

<link name="head">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <geometry>
      <sphere radius=".4" />
    </geometry>
    <material name="white" />
  </visual>

  <collision>
    <origin/>
    <geometry>
      <sphere radius=".4" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="swivel" type="continuous">
  <origin xyz="0 0 0.1" />
  <axis xyz="0 0 1" />
  <parent link="body"/>
  <child link="head"/>
</joint>

<link name="rod">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <origin xyz="0 0 -.1" />
    <geometry>
      <cylinder radius=".02" length=".2" />
    </geometry>
    <material name="gray" />

  </visual>

  <collision>
    <origin/>
    <geometry>
      <cylinder radius=".02" length=".2" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="periscope" type="prismatic">
  <origin xyz=".12 0 .15" />
  <axis xyz="0 0 1" />
  <limit upper="0" lower="-.5" effort="10" velocity="10" />
  <parent link="head"/>
  <child link="rod"/>
</joint>

<link name="box">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <geometry>
      <box size=".05 .05 .05" />
    </geometry>
    <material name="blue" >
      <color rgba="0 0 1 1" />
    </material>
  </visual>

  <collision>
    <origin/>
    <geometry>
      <box size=".05 .05 .05" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>
<joint name="boxconnect" type="fixed">
  <origin xyz="0 0 0" />
  <parent link="rod"/>
  <child link="box"/>
</joint>

</robot>

It looks like http://wiki.ros.org/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher#Launch_File is outdated but the basic approach is valid- TODO fix it.

It should look like this:

<?xml version="1.0"?>
<launch>
  <arg name="model" default="model.urdf"/>
default="$(find r2d2)/model.urdf"/>
  <param name="robot_description" textfile="$(arg model)" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
    <param name="use_gui" value="true" />
  </node>
</launch>

And the urdf I had to add an inertia-less base_link:base_link (and made the file extension .urdf instead of .xml):

<?xml version="1.0"?>
<robot name="r2d2">

<link name="base_link">
</link>

<joint name="basec" type="fixed">
  <origin xyz="0 0 0" />
  <parent link="base_link"/>
  <child link="main_axis"/>
</joint>


<link name="main_axis">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>
  <visual>
    <origin xyz="0 0 0" rpy="1.57 0 0" />
    <geometry>
      <cylinder radius="0.01" length=".5" />
    </geometry>
    <material name="gray">
      <color rgba=".2 .2 .2 1" />
    </material>
  </visual>

  <collision>
    <origin xyz="0 0 0" rpy="1.57 0 0" />
    <geometry>
      <cylinder radius="0.01" length=".5" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<link name="leg1">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <origin xyz="0 0 -.3" />
    <geometry>
      <box size=".20 .10 .8" />
    </geometry>
    <material name="white">
      <color rgba="1 1 1 1"/>
    </material>
  </visual>

  <collision>
    <origin xyz="0 0 -.3" />
    <geometry>
      <box size=".20 .10 .8" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="leg1connect" type="fixed">
  <origin xyz="0 .30 0" />
  <parent link="main_axis"/>
  <child link="leg1"/>
</joint>

<link name="leg2">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <origin xyz="0 0 -.3" />
    <geometry>
      <box size=".20 .10 .8" />
    </geometry>
    <material name="white">
      <color rgba="1 1 1 1"/>
    </material>
  </visual>

  <collision>
    <origin xyz="0 0 -.3" />
    <geometry>
      <box size=".20 .10 .8" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="leg2connect" type="fixed">
  <origin xyz="0 -.30 0" />
  <parent link="main_axis"/>
  <child link="leg2"/>
</joint>

<link name="body">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <origin xyz="0 0 -0.2" />
    <geometry>
      <cylinder radius=".20" length=".6"/>
    </geometry>
    <material name="white"/>
  </visual>

  <collision>
    <origin xyz="0 0 0.2" />
    <geometry>
      <cylinder radius=".20" length=".6"/>
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="tilt" type="revolute">
  <parent link="main_axis"/>
  <child link="body"/>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <axis xyz="0 1 0" />
  <limit upper="0" lower="-.5" effort="10" velocity="10" />
</joint>

<link name="head">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <geometry>
      <sphere radius=".4" />
    </geometry>
    <material name="white" />
  </visual>

  <collision>
    <origin/>
    <geometry>
      <sphere radius=".4" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="swivel" type="continuous">
  <origin xyz="0 0 0.1" />
  <axis xyz="0 0 1" />
  <parent link="body"/>
  <child link="head"/>
</joint>

<link name="rod">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <origin xyz="0 0 -.1" />
    <geometry>
      <cylinder radius=".02" length=".2" />
    </geometry>
    <material name="gray" />

  </visual>

  <collision>
    <origin/>
    <geometry>
      <cylinder radius=".02" length=".2" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

<joint name="periscope" type="prismatic">
  <origin xyz=".12 0 .15" />
  <axis xyz="0 0 1" />
  <limit upper="0" lower="-.5" effort="10" velocity="10" />
  <parent link="head"/>
  <child link="rod"/>
</joint>

<link name="box">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>

  <visual>
    <geometry>
      <box size=".05 .05 .05" />
    </geometry>
    <material name="blue" >
      <color rgba="0 0 1 1" />
    </material>
  </visual>

  <collision>
    <origin/>
    <geometry>
      <box size=".05 .05 .05" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>
<joint name="boxconnect" type="fixed">
  <origin xyz="0 0 0" />
  <parent link="rod"/>
  <child link="box"/>
</joint>

</robot>