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

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

0

Why robot_model use urdf not just using universal CAD extension file?

asked 2011-07-20 04:12:55 -0600

sam
2570 ●233 ●269 ●290

updated 2014-01-28 17:10:04 -0600

ngrennan
1 ●1 ●1

Because translate from CAD file to urdf will lead to a lot of steps or problems.

I have occurred some.

I am afraid of that maybe also cause some precisions problems during translation.

Is there any way just read the file from Inventor,Solidworks,Proe...?

Or is it possible in the future?

Thank you~

edit retag flag offensive close merge delete

2 Answers

Sort by » oldest newest most voted

4

answered 2011-07-20 04:23:37 -0600

flag of Germany

31395 ●134 ●284 ●498

URDF contains more information that CAD files, i.e. it is more universal. You can, however, use models imported from CAD programs in the URDF.

Extra things that are handled are e.g. kinematics, joint limits (those might be in CAD programs), extensions for simulation, collision models.

Also a URDF is very small to read if you don't care about the CAD models.

edit flag offensive delete link

Comments

What you mean is URDF contain all the information of CAD files,and also contain with other features that CAD files don't concern? And is there any possible lose from transfer CAD files to URDF?

sam ( 2011-07-20 04:31:25 -0600 )edit

I'd say it depends on the format. Regarding your question the word "Unified" is the most important from the URDF. You can attach meshes (i.e. CAD models) to the URDF, but information like materials, screw threads, etc. will be lost.

dornhege ( 2011-07-20 04:36:18 -0600 )edit

And........if URDF is more universal,why CAD software couldn't export to that extension? Is URDF a different type of purpose,so CAD software just ignore that?

sam ( 2011-07-20 04:39:32 -0600 )edit

So information like materials, screw threads, and etc are not important with gazebo,right?

sam ( 2011-07-20 04:42:16 -0600 )edit

I think theoretically CAD software could export URDF, but it is not widely used enough to be on their radar. Plus its not just one piece of CAD software.

David Lu ( 2011-07-20 05:07:28 -0600 )edit

2

answered 2011-07-20 04:51:57 -0600

flag of United States of America

10932 ●123 ●219 ●250 http://MetroRobots.com/

The simmechanics to urdf tool is one way to get data from CAD programs to ROS.

edit flag offensive delete link

Question Tools

Stats

Asked: 2011-07-20 04:12:55 -0600

Seen: 2,087 times

Last updated: Jul 20 '11

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2