文章目录
URDF文件、Xacro文件介绍及参考教程
URDF、Xacro编写及介绍及其在RVIZ中显示与控制:
https://blog.csdn.net/answerMack/article/details/89523746
urdf教程:http://wiki.ros.org/urdf/Tutorials
solidworks转urdf教程:
1.http://wiki.ros.org/sw_urdf_exporter
2.https://blog.csdn.net/gpeng832/article/details/73917487
moveit setup assistant教程:
1.http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html
2.http://docs.ros.org/hydro/api/moveit_setup_assistant/html/doc/tutorial.html
urdf转xacro参考教程:
1.http://wiki.ros.org/urdf/Tutorials/Using Xacro to Clean Up a URDF File
文件目录:
urdf文件
<robot
name="car-3">
<link
name="base_link">
<inertial>
<origin
xyz="0.000454836605433948 1.27332861349781E-18 0.000181934642173575"
rpy="0 0 0" />
<mass
value="0.497309733552923" />
<inertia
ixx="0.000379491084127215"
ixy="-2.59493525107028E-19"
ixz="-3.57796209039485E-06"
iyy="0.00138864533975945"
iyz="-4.48378120593819E-21"
izz="0.00169173411179082" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://car-3/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://car-3/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="wheel_1">
<inertial>
<origin
xyz="2.08756043780373E-05 5.32859680283521E-06 -6.93889390390723E-18"
rpy="0 0 0" />
<mass
value="0.0282994666235368" />
<inertia
ixx="6.59828205801096E-06"
ixy="-3.54146284907832E-09"
ixz="-4.2351647362715E-22"
iyy="1.27373747424717E-05"
iyz="7.11375326795604E-23"
izz="6.61215628796161E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://car-3/meshes/wheel_1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://car-3/meshes/wheel_1.STL" />
</geometry>
</collision>
</link>
<joint
name="wheel_1_to_base_link"
type="continuous">
<origin
xyz="0.07 0.052 0"
rpy="0 -0.75239 0" />
<parent
link="base_link" />
<child
link="wheel_1" />
<axis
xyz="0 1 0" />
</joint>
<link
name="wheel_2">
<inertial>
<origin
xyz="2.08756043780373E-05 5.32859680283521E-06 -1.44387083394547E-35"
rpy="0 0 0" />
<mass
value="0.0282994666235368" />
<inertia
ixx="6.59828205801097E-06"
ixy="-3.54146284907845E-09"
ixz="4.94314925543529E-39"
iyy="1.27373747424718E-05"
iyz="-8.12167230901508E-39"
izz="6.61215628796161E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://car-3/meshes/wheel_2.STL" />
</geometry>
<material
name="">
&