Robot Description Formats

Ian McMahon edited this page Feb 25, 2016 · 14 revisions

General Topics

  • URDF
  • SDF (Gazebo Model builder?)
  • SRDF
  • Collada?
  • STEP (STP)?
  • URDF and robot_model tools
  • RobotStatePublisher changes
  • Improve adherence to SPOT/DRY principles for ROS models (e.g. redundant information, hierarchical models, robot/item instances)?
  • xacro vs bare URDF vs SDF
  • MoveIt PlanningScene from URDF/SDF
  • gazebo/SDF <-> rviz/MoveIt sync (e.g.

Enhancement Proposals/Ideas

mostly handled by Jackie. If you see an idea that is appealing to you, consider volunteering to champion it. If you see something that you think is a bad idea, speak up.

Questions to be Answered

URDF Questions

  • How are people going from CAD to URDF and SDF? Is everyone writing both by hand?

RobotStatePublisher REP Questions

  • How can a ROS node change the robot's URDF at runtime?
  • Is robot_description still a parameter? Or a latched topic, service, or Action server? Something else?
  • How will the URDF changes be synchronized between every node that requires an update?
  • Will synchronizing URDF changes between multiple machines be a special case?
  • How would Gazebo accept URDF changes / load new models?
  • How would Kinematic chains be updated?
  • Current candidate reference implementations:
You can’t perform that action at this time.
You signed in with another tab or window. Reload to refresh your session. You signed out in another tab or window. Reload to refresh your session.
Press h to open a hovercard with more details.