learning-urdf-03

1.create model

sudo apt-get install liburdfdom-tools//安装urdf语法检查工具
urdf_check urdf.file    //检查urdf语法

my_robot.urdf

<robot name="test_robot">
  <link name="link1"/>
  <link name="link2"/>
  <link name="link3"/>
  <link name="link4"/>

  <joint name="joint1" type="continuous">
    <parent link="link1"/>
    <child link="link2" />
    <origin xyz="5 3 0" rpy="0 0 0"/>
    <axis xyz="-0.9 0.15 0">
  </joint>
  <joint name="joint2" type="continuous">
    <parent link="link1"/>
    <child link="link3" />
    <origin xyz="-2 5 0" rpy="0 0 1.57"/>
    <axis xyz="-0.707 0.707 0"/>
  </joint>
  <joint name="joint3" type="continuous">
    <parent link="link1"/>
    <child link="link4" />
    <origin xyz="5 0 0" rpy="0 0 -1.57"/>
    <axis xyz="0.707 -0.707 0"/>
  </joint>
</robot>