how to create a URDF file of the model below

asked 2016-03-28 01:20:41 -0600

warmer
26 ●1 ●2

updated 2016-03-29 07:01:42 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

image description sorry,every one. I am a beginner .

Now I want to creat a URDF file. But it is not easy to do such thing, I do not kown how to define the links and jionts. It is diffirent from the Serial robots. Can anyone serve examples or tutorials that I can learn and use? Thanks all that help me.

I use ubuntu 14.04 and ROS indigo

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Your image is not visible. I'll give you some karma you so you can upload it instead of link to it.

gvdhoorn ( 2016-03-28 06:23:05 -0600 )edit

thankyou very much

warmer ( 2016-03-29 06:58:55 -0600 )edit

Can anyone give me a help？

warmer ( 2016-03-30 10:18:59 -0600 )edit

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answered 2016-03-30 10:32:19 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2016-03-30 10:33:26 -0600

Have you checked out the wiki/urdf/Tutorials? The Learning URDF Step by Step tutorials should give you something to start with.

Note that URDF cannot model parallel robots, so you'll either have to ignore that link (ie: not model it), or use a mimic joint for it.

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Thanks for your answer. But what does the "mimic joint" mean? what should i do to finish this work?

warmer ( 2016-03-31 02:25:20 -0600 )edit

See wiki/urdf/XML/joint.

gvdhoorn ( 2016-03-31 02:41:49 -0600 )edit

I have seen it，but there is little message about <mimic>.

warmer ( 2016-03-31 06:44:46 -0600 )edit

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answered 2016-03-30 10:34:55 -0600

Ajith kumar
28 ●3 ●4 ●7

Download and follow this book "Learning ROS for Robotic programming" where all necessary information including URDF file creation is explained .

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I have seen it,but i can not find anything about the way to creat URDF of parallel robots or hybrid robots

warmer ( 2016-03-31 07:57:02 -0600 )edit

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how to create a URDF file of the model below

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