学习古月居ROS机械臂课程
保存和加载rviz配置:https://www.theconstructsim.com/ros-qa-125-save-and-load-rviz-configuration/
urdf右手系:
x正方向朝右(红色), y 正方向向内(绿色), z轴正方向朝上(蓝色)
检查urdf:
check_urdf ur3.urdf
查看模型结构:
urdf_to_graphiz ur3.urdf
支持的mesh格式:
The meshes can be imported in a number of different formats. STL is fairly common, but the engine also supports DAE, which can have its own color data, meaning you don’t have to specify the color/material. Often these are in separate files. These meshes reference the .tif files also in the meshes folder.
这里的axis定义了关节的旋转轴,与origin中的rpy无关:
<joint name="head_swivel" type="continuous"> <parent link="base_link"/> <child link="head"/> <axis xyz="0 0 1"/> <origin xyz="0 0 0.3"/> </joint>