Difference between revisions of "MYRAbot's arm model for simulation (urdf+gazebo)"
From robotica.unileon.es
(→Creation of URDF model) |
|||
| Line 2: | Line 2: | ||
==Creation of URDF model== | ==Creation of URDF model== | ||
| + | |||
| + | [http://wiki.ros.org/urdf/Tutorials URDF] (Unified Robot Description Format) is the format used to define the model of the [[MYRAbot's arm control (bioloid+arduino)|arm]] ([http://es.wikipedia.org/wiki/Extensible_Markup_Language xml]) in order to simulate it in [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo]. It consists of a tree of geometrical elements (''links'') plunged through unions (''joints''). This unions can be fixed or mobile, the mobile unions can be rotating, linear or floating. | ||
| + | |||
<!-- | <!-- | ||
| − | |||
| − | |||
Comenzaremos [[Fernando-TFM-ROS02#Creando un package|creando el package]] "brazo_fer_modelo" que va a contener el modelo de nuestro brazo, con las siguientes pependencias: urdf [[Control brazo MYRAbot (bioloid+arduino)|brazo_fer]] std_msgs sensor_msgs tf roscpp | Comenzaremos [[Fernando-TFM-ROS02#Creando un package|creando el package]] "brazo_fer_modelo" que va a contener el modelo de nuestro brazo, con las siguientes pependencias: urdf [[Control brazo MYRAbot (bioloid+arduino)|brazo_fer]] std_msgs sensor_msgs tf roscpp | ||
Revision as of 18:35, 6 January 2014
Creation of URDF model
URDF (Unified Robot Description Format) is the format used to define the model of the arm (xml) in order to simulate it in gazebo. It consists of a tree of geometrical elements (links) plunged through unions (joints). This unions can be fixed or mobile, the mobile unions can be rotating, linear or floating.
