URDF Directory Reference

Introduction

We use an URDF file for the Wam robot to illustrate the procedure to automatically convert URDF files to world files. These world files can be direclyt used by the CuikSuite. Thus, this procedure allows to rapidly incorporate new robot models to the CuikSuite.

For information about ROS and URDF files please see http://www.ros.org

The cuikurdf2world tool does not link with any ROS library, but it directly parses the URDF files using tinyxml2. In this way CuikSuite keeps its dependencies to a minimum. The problem with this approach is that changes in the URDF file format will not be automatically incorporated into the CuikSuite. Moreover, we do not consider xacro scritps, but only URDF files. If only have xacro files you will need to install ROS and execute

• rosrun xacro xacro –inorder -o model.urdf model.urdf.xacro

To process this example execute:

• Convert the URDF file to a world file:
  • bin/cuikurdf2world . examples/URDF wam.urdf
• Visualize and move the resulting robot model:
  • scripts/cuikmove examples/URDF/wam

For any process using this generated file you will need a file of parametes. Just copy one from another example:

• cp examples/Barret/BarretArm.param examples/URDF/wam.param

The default conversion activates the collision detection between all pairs of links. Just edit the collision section in the last part of the world file to change this setting.

Files
file	wam.world [code]
	Automatically generated world file.