ROS知识点-URDF

1.Overview

功能包包含了C++针对URDF（Unified Robot Description Format统一的机器人描述格式）的解析器，以xml格式的文件进行描述机器人模型。解析器的API已经进行了检查，并针对未来发行版保持向后兼容。
Maintainer status: maintained
Maintainer: Ioan Sucan,Jackie Kay
Author: Ioan Sucan
License: BSD
Bug / feature tracker: https://github.com/ros/robot_model/issues
Source: git https://github.com/ros/robot_model.git (branch: indigo-devel)

2.Components

2.1 Current Status of URDF Components in Hydro

URDF核心的解析器和数据结构已经被推送到独立的软件包，未来将与ROS剥离出来,以发布版的形式融合到ubuntu。

目前，在URDF文件和URDF数据结构之间存在差异。一个URDF文件遵循XML格式。数据结构是一个一般类的集合，不同的格式的解析融合，目前包含了URDF和Collada。

当前，一个新的抽象插件层（urdf_parser_plugin）允许数据结构以不同的格式发布（包括URDF和collada）。相关的接口有Groovy存在冲突，已经转移到Hydro中。

3.Getting Started

There is large set of tutorials on how to build up your own robot models using the URDF specification. Check out the urdf/Tutorials page.

We also developed a macro language called xacro to make it easier to maintain the robot description files,increase their readability,and to avoid duplication in the robot description files.

Examples See this page for a list of robots described by a URDF model.