overview and robot element
本章是ROS 中所使用的URDF模型描述文件的第一章,将会介绍概况和几个简单的组件(element),其他主要组件请关注后续博客。
There are 9 elements in urdf XML format
1. robot: Describes all properties of a robot.
2. sensor/proposals: Describes a sensor, such as a camera, ray sensor, etc
3. linkDescribes the kinematic and dynamic properties of a link.
4. transmission: Transmissions link actuators to joints and represents their mechanical coupling
5. joint: Describes the kinematic and dynamic properties of a joint.
6. gazebo: Describes simulation properties, such as damping, friction, etc
7. sensor: Describes a sensor, such as a camera, ray sensor, etc
8. model_state:Describes the state of a model at a certain time
9. model: Describes the kinematic and dynamic properties of a robot structure.
The shortcomings and the comparisons with Simulation Description Format (SDF) can be referenced here
1. Robot Element
Robot element is the root and the name of the robot name, really easy that can be referred here.
2. sensor/proposals
The same with sensor element, here
3. sensor
The same with sensor/proposals element, here
4. model_state
work in progress==ROS has not published yet, here
5. model
The official overview, reference here.