ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Denavit-Hartenberg (DH) to URDF/SDF or /tf /tf2?

asked 2018-08-16 23:23:25 -0500

MaximN74 gravatar image

Hi! Can anybody advise, is there any package to build a manipulator using Dehavit-Hartenberg parameters, then convert to URDF/SDF or just use outputs as /tf /tf2 ?

edit retag flag offensive close merge delete

3 Answers

Sort by ยป oldest newest most voted

answered 2020-09-01 05:59:38 -0500

narcispr gravatar image

The following example shows how to define a revolute DoF defined using the Denavit-Hartenberg parameters (theta, d, a and alpha) using URDF in a systematic way.

<link name="base_link">...</link>
<link name="tmp_11">...</link>
<joint name="theta1" type="revolute">
  <parent link="base_link"/>
  <child link="tmp_11"/>
  <axis xyz="0 0 1"/>
  <limit effort="1000.0" lower="-3.1415" upper="3.1415" velocity="0.5"/>
  <origin rpy="0 0 {{ value_theta1 }}" xyz="0 0 0"/>
<link name="tmp_12">...</link>
<joint name="d1" type="fixed">
  <parent link="tmp_11"/>
  <child link="tmp_12"/>
  <origin rpy="0 0 0" xyz="0 0 {{ value_d1 }}"/>
<link name="tmp_13">...</link>
<joint name="a1" type="fixed">
  <parent link="tmp_12"/>
  <child link="tmp_13"/>
  <origin rpy="0 0 0" xyz="{{ value_a1 }} 0 0"/>
<link name="L1">...</link>
<joint name="alpha1" type="fixed">
  <parent link="tmp_13"/>
  <child link="L1"/>
  <origin rpy="{{ value_alpha1 }} 0 0" xyz="0 0 0"/>
edit flag offensive delete link more

answered 2018-08-17 02:06:47 -0500

gvdhoorn gravatar image

I haven't used it myself, but AdoHaha/DH2URDF claims to be able to do this.

edit flag offensive delete link more


Is it useful and can it convert URDF to DH?

itfanr gravatar image itfanr  ( 2018-09-09 22:35:24 -0500 )edit

I don't know. The original question poster never replied.

gvdhoorn gravatar image gvdhoorn  ( 2018-09-10 01:19:58 -0500 )edit

answered 2018-12-18 20:10:53 -0500

Hi, I just wrote a small utility for converting GraspIt hand models (which use DH parameters) to a URDF: .

edit flag offensive delete link more


Hi! Thanks for your reply. I'll try your package and inform you. Tnanks again!

MaximN74 gravatar image MaximN74  ( 2018-12-19 01:05:37 -0500 )edit

Question Tools

1 follower


Asked: 2018-08-16 23:23:25 -0500

Seen: 1,744 times

Last updated: Sep 01 '20