Universal Robotic Description Format Specification 2 *Joint*

本章是URDF系列第二章，介绍joint element

---

joint

<joint name="my_joint" type="floating">
    <origin xyz="0 0 1" rpy="0 0 3.1416"/>
    <parent link="link1"/>
    <child link="link2"/>
    <!--<axis xyz="1 0 0" />-->
    <calibration rising="0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="30" velocity="1.0" lower="-2.2" upper="0.7" />
    <safety_controller k_velocity="10" k_position="15" soft_lower_limit="-2.0" soft_upper_limit="0.5" />
 </joint>

joint element(《joint》《/joint》这种都算是element，在element中的设置项为Attributes)，上面这个例子包含了动力学和运动学，也指定了Safety Limits
注意：
(1). safety_controller element用来保证关节在正常范围内运动，并设置了超过力限制、速度限制和位置限制之后的关节行为，然而， 这个safety_controllerNOT IN GAZEBO
(2). xyz和rpy defaults 'to zero vector 'if not specified) optional
(3). parent and child is required
(4). axis is optional due to the joint type . The joint axis specified in the joint frame. This is the axis of rotation for revolute joints, the axis of translation for prismatic joints, and the surface normal for planar joints. The axis is specified in the joint frame of reference. Fixed and floating joints do not use the axis field.
(5). calibration is optional. The reference positions of the joint, used to calibrate the absolute position of the joint. NOT IN GAZEBO
(6). dynamics is optional. damping and friction
(7). limit is required only for revolute and prismatic joint. lower and upper is optional and omit with continuous. meters in prismatic and radians in revolute. effort is required N for prismatic and Nm for revolute. Velocity is required m/s for prismatic, rad/s for revolute.
(8). mimic: joint(required), multiplier (optional) offset (optional)
(9). safety_controller> (optional) http://wiki.ros.org/pr2_controller_manager/safety_limits for details.