Faster alternatives to URDF

asked 2018-03-15 14:54:38 -0600

ferasb gravatar image

Hi there,

I have modeled with URDF in the past. The process is rather tedious and unpleasant. If I have to model a robot for simulation/visualization, is there a way not to write a two thousand lines URDF file? Something with some kind of interface and URDF conversion.

For instance, if I were to model a robot on Google Sketchup, do I simply convert a .dae file to .urdf and voilĂ , the deed is done? I have seen references to .dae files in .urdf files but I am quite confused to where the model is going to appear once I include it (origin, tf, scaling, etc.).

Any kind of guidance is appreciated.

Thanks.

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Comments

1

I believe you can model each separate 'limb' of the robot as a dae file then build your URDF using these pre-modeled parts. No-one wants to built a complex 3D model using a text editor.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-03-15 18:20:56 -0600 )edit
1

I've seen that often. So I presume the right way of doing things is to model a limb with some other software then import the corresponding mesh file to the .urdf. I just didn't find any guide since everything on ROS tutorials is text based.

ferasb gravatar image ferasb  ( 2018-03-15 19:06:06 -0600 )edit

@ferasb and @PeteBlackerThe3rd use solidworks , it provide you add-on for URDF . You can create your 3D model and then you can convert that into URDF file and now new add-on provide you launch files also for checking the model In ROS

lagankapoor gravatar image lagankapoor  ( 2018-03-16 02:12:45 -0600 )edit