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Gazebo + ROS で自分だけのロボットをつくる 4.URDFファイルをつくる ref: http://qiita.com/RyodoTanaka/items/174e82f06b10f9885265
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<launch> | |
<arg name="model" /> | |
<arg name="gui" default="False" /> | |
<param name="robot_description" textfile="$(arg model)" /> | |
<param name="use_gui" value="$(arg gui)"/> | |
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> | |
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" /> | |
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" required="true" /> | |
</launch> |
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<launch> | |
<!-- arguments --> | |
<arg name="model"/> | |
<arg name="gui" default="true" /> | |
<!-- prameters --> | |
<param name="robot_description" command="$(find xacro)/xacro.py '$(arg model)'"/> | |
<param name="use_gui" value="$(arg gui)"/> | |
<!-- nodes --> | |
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> | |
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" /> | |
</launch> |
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$ source <catkin_ws>/devel/setup.bash | |
$ roslaunch fourth_robot_description fourth_robot_description.launch |
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$ cd <catkin_ws>/src | |
$ catkin_create_pkg <robot_name>_description |
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$ cd <catkin_ws>/src/<robot_name>_description | |
$ mkdir mesh | |
$ mkdir urdf | |
$ mkdir robots | |
$ mkdir launch |
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test_robot_description | |
├── CMakeLists.txt | |
├── launch | |
├── meshes | |
├── package.xml | |
├── robots | |
└── urdf |
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test_robot_description | |
├── CMakeLists.txt | |
├── launch <- launchファイルを格納 | |
├── meshes <- COLLADA or STLファイルを格納 | |
├── package.xml | |
├── robots <- Xacroを使う際に、各マクロを組み合わせたXacroファイルを格納 | |
└── urdf <- URDF or Xacroファイルを格納 |
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$ roslaunch urdf_tutorial display.launch model:='$(find <robot_name>_description)/urdf/robot_name.urdf' |
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fourth_robot_description | |
├── CMakeLists.txt | |
├── launch | |
│ └── fourth_robot_description.launch <- display用のlaunchファイル | |
├── meshes <- CADデータを格納 | |
│ ├── DAE <- COLLADAファイルを格納 | |
│ └── STL <- STLファイルを格納 | |
├── package.xml | |
├── robots | |
│ └── fourth_robot.urdf.xacro <- ロボットモデルのXacroファイル | |
└── urdf | |
├── common.xacro <- 円周率など、共通定義の記述用Xacro | |
├── base <- 胴体部分のXacroファイルを格納 | |
│ ├── base.gazebo.xacro <- 胴体部分のGazeboに関する記述用Xacro | |
│ └── base.urdf.xacro <- 胴体部分の基本的な記述用Xacro | |
├── sensors <- センサ部分のXacroファイルを格納 | |
│ ├── gim30 ┓ | |
│ │ └── gim30.urdf.xacro ┃ | |
│ ├── gps ┃ | |
│ │ └── gps.urdf.xacro ┣━ 各種センサのXacro | |
│ └── lrf ┃ | |
│ ├── lrf.gazebo.xacro ┃ | |
│ └── lrf.urdf.xacro ┛ | |
└── wheel <- 車輪部分のXacroファイルを格納 | |
├── wheel.gazebo.xacro <- 車輪部分のGazeboに関する記述用Xacro | |
├── wheel.transmission.xacro <- 車輪部分のTransmissionに関する記述用Xacro | |
└── wheel.urdf.xacro <- 車輪部分の基本的な記述用Xacro |
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$ source <catkin_ws>/devel/setup.bash | |
$ rosrun xacro xacro.py <robot_name>.xacro -> <output>.urdf |
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<?xml version="1.0"?> | |
<robot name="minimum_robot"> | |
<link name="Link1"/> | |
<joint name="Joint1" type="fixed"> | |
<parent link="Link1"/> | |
<child link="Link2"/> | |
</joint> | |
<link name="Link2"/> | |
<joint name="Joint2" type="fixed"> | |
<parent link="Link1"/> | |
<child link="Link3"/> | |
</joint> | |
<link name="Link3"/> | |
<joint name="Joint3" type="fixed"> | |
<parent link="Link3"/> | |
<child link="Link4"/> | |
</joint> | |
<link name="Link4"/> | |
</robot> |
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<robot name="minimum_visual_robot"> | |
<link name="base_footprint"/> | |
<joint name="base_link_joint" type="fixed"> | |
<origin xyz="0 0 0.5"/> | |
<parent link="base_footprint"/> | |
<child link="base_link"/> | |
</joint> | |
<link name="base_link"> | |
<visual> | |
<geometry> | |
<mesh filename="package://minimum_visual_robot/meshes/DAE/base/base_link.dae"/> | |
</geometry> | |
</visual> | |
</link> | |
</robot> |
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