robot_model: collada_parser | collada_urdf | colladadom | convex_decomposition | ivcon | kdl_parser | resource_retriever | robot_state_publisher | simmechanics_to_urdf | srdf | urdf | urdf_interface | urdf_parser

Stack Summary

robot_model contains packages for modeling various aspects of robot information, specified in the Xml Robot Description Format (URDF). The core package of this stack is urdf, which parses URDF files, and constructs an object model (C++) of the robot.

• Author: Wim Meeussen, John Hsu, David Lu, Rosen Diankov, Tim Field
• License: BSD,GPL,MIT
• Repository: wg-kforge
• Source: hg https://kforge.ros.org/robotmodel/robot_model

Documentation

robot_model provides the following ROS packages:

• urdf: An XML robot description format and parser.

• srdf: An XML semantic robot description and parser.

• kdl_parser: A parser to create a kinematic and dynamic model of a robot from a urdf robot description.

• robot_state_publisher: A publisher for the transform library, used to publish the 3D pose of each link in a robot.

• resource_retriever: A tool to read data from URL-format sources into memory.

• convex_decomposition: A tool to auto-generate convex decomposed meshes for collision and visualization of robot links.

• ivcon: A mesh conversion tool to generate .iv files from .stl files.

• collada_urdf: A package to convert urdf files into collada files.

• colladadom: A 3rd party package that contains the collada Document Object Model (DOM)

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