using Denavit-Hartenberg to specify the URDF

asked 2019-07-17 07:40:12 -0600

houssemDZ-25 gravatar image

Hello ,

I have DH parameter table and I want to define my URDF file. My approach is to use the rpy xyz calculated from every line and use it to define the corresponding joint. then I will use the odometry to update the joints of the robot using the robot_state_publisher. Is this the right way or am I missing somthing ?

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This is a badly posed question because 1) no one can answer if you're missing something, 2) the description of your method is too vague to judge if you are doing things right, 3) there is no defined problem to be solved. Please add more detail or what you are stuck on.

fvd gravatar image fvd  ( 2019-07-17 21:40:47 -0600 )edit