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Understanding the URDF Tutorial

I have problem to figure out what the tutorial on this page is proposing to explain.

In order:

So, if you look at joint2, you see it rotates around the positive Y-axis. So, simple add the following xml to the joint element:

<axis xyz="0 1 0" />

But if you look in the code you will see:

  <joint name="joint2" type="continuous">
    <parent link="link1"/>
    <child link="link3"/>
    <origin xyz="-2 5 0" rpy="0 0 1.57" />
    <axis xyz="-0.707 0.707 0" />
  </joint>

Not really what it stated before.

which is the reference frame? How should I get those values?

Pleae help me to understand the example, because I searched in internet but I was not able to find anything better the ROS' Turorials

Thanx in advance

Asked by Andromeda on 2014-07-30 12:25:04 UTC

Comments

You might have better luck with the "Step by Step" tutorials listed here; http://wiki.ros.org/urdf/Tutorials

Asked by David Lu on 2014-07-30 12:47:44 UTC

David, that page doesn t exist. Do you find the right link?

Asked by Andromeda on 2014-07-30 15:29:29 UTC

There is a bug in this page apparently. Copy the link by hand, or remove the

from after it.

Asked by David Lu on 2014-07-30 15:53:15 UTC

Can anyone shed some light on this?

Asked by nicolae.rosia on 2016-04-07 00:22:17 UTC

On what?!?

Asked by Andromeda on 2016-04-19 13:51:48 UTC

Answers