URDF (Unified Robot Description Format) is a very important robot model description format in ROS. ROS also provides a C++ parser for URDF files, which can parse robot models described in XML format in URDF files. Before using URDF files to build robot models, it is necessary to sort out the XML tags commonly used […]
Tag: rdf
Handwritten two-wheeled differential robot urdf model from 0
Article directory Preface 1. Basic theory 2. Implementation steps 1. Create a robot modeling function package 2. Create a car body model using a cylinder 2. Create other components of the robot in the same way 3. Add sensors to the robot model Foreword Recently, in order to find a robot structure that is suitable […]
Twenty, mirror IBL–print BRDF integral map
Compared to the past, this section is probably the easiest. The running results are as follows code show as below: #include #include #include #include #include #include #include #include #include #include static const char * vertexShader = { “in vec3 aPos;\ “ “in vec2 texcoord;” “varying vec2 TexCoords;\ “ “void main(void)\ “ “{\ “ “TexCoords = […]
Nineteen, specular IBL–BRDF integral map
Let’s review the segmentation and summation approximation method of the mirror part again. Now focus on part two Finally it can be transformed into In other words, these two parts of the integral can obtain the coefficient of F0 and the deviation of F0. These two values can be stored in the RG part of […]
Semantic Network and Knowledge Graph (2) Knowledge Representation (Predicate Logic & Production Rule Representation & Framework Representation & Semantic Web Representation & XML & RDF & OWL
Knowledge representation: Use computer symbols to describe the knowledge in the human brain, and simulate the reasoning process of the human brain through operations between symbols. Semantic Web Core: RDF OWL knowledge representation method ? First-order predicate logic representation ? Production rule notation ? Frame notation ? Semantic Web Notation ? Distributed knowledge representation Predicate […]
ROS2 robot arm urdf and moveit related configuration
1. Software installation 1.1 ROS2-humble ROS2 can also be applied in Windows systems. Interested students can try it. This article mainly installs ros2-humble in Ubuntu22.04. There are many installation tutorials on the Internet, so I will not show them here. 1.2 Moveit2 sudo apt install ros-humble-moveit 1.3 moveit-setup-assistant sudo apt install ros-humble-moveit-setup-assistant 1.4 Moveit other […]
[URDF] 1. Use URDF to build a visual robot model from scratch
Install urdf_tutorial First we need to install the urdf_tutorial tutorial package vim catkin_ws/src & cd catkin_ws/src git clone https://github.com/ros/urdf_tutorial.git urdf_tutorial cd.. catkin_make Following the tutorial, in step 2 we can get all the files we need (base) zwhy2022@Zwhy:~/work/catkin_ws/src/urdf_tutorial$ ls CHANGELOG.rst CMakeLists.txt images launch meshes package.xml README.md rviz urdf But why do you need catkin_make? In […]
ROS: URDF, Gazebo and Rviz combined use
Table of Contents 1. Robot motion control and odometer information display 1.1 Introduction to ros_control 1.2 Motion control implementation process (Gazebo) 1.2.1 Add transmission and controller for joint 1.2.2 xacro file integration 1.2.3 Start gazebo and control the robot movement 1.3 Rviz view odometer information 1.3.1 Start Rviz 1.3.2 Add components 2. Radar information simulation […]
How to write the URDF of the robot when Gazebo is combined with ROS simulation
Translator’s Note: When using Gazebo as a simulation application, if you want to use ROS to control the robot, but also want the robot to run in both Gazebo and Rviz, you need to use URDF to describe the robot instead of SDF. The reason is that the standard configuration of Rviz is URDF, which […]
[ROS] URDF: Unified Robot Description Format (XML)
[ROS] Guo Lao Er’s blog post: ROS directory 1. Brief description The Unified Robot Description Format (URDF) is an XML file that describes a robot model, supports Xacro (XML macros), uses Xacro to reference existing XML blocks, and creates shorter and readable XML files. 2. Initial URDF description file The URDF description file is in […]