urdf -> sdf

URDF Check

• 설치
  sudo apt-get install liburdfdom-tools

• URDF 문법검사

  • 방법1 $ check_urdf myrobot.urdf
  • 방법2 $ rosrun urdf_parser check_urdf myrobot.urdf

• URDF 그래프표시

  • 방법1 $ urdf_to_graphiz myrobot.urdf $ evince myrobot.pdf
  • 방법2 $ rosrun urdf_parser urdf_to_graphiz brazo.urdf

URDF-SDF converter

• Gazebbo 7.0 이전 버전 $ gzsdf print urdfname.urdf > newname.sdf
• Gazebbo 7.0 이전 버전 $ gz sdf --print my_urdf.urdf > my_sdf.sdf
• alt) $ /usr/local/Cellar/gazebo8/8.1.0/bin/gz sdf --convert simple_box.urdf

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Additional Readings

• URDF XML specifications
  http://wiki.ros.org/urdf/XML

• URDF Tutorials
  http://wiki.ros.org/urdf/Tutorials

• Using a URDF in Gazebo
  http://gazebosim.org/tutorials/?tut=ros_urdf

• Understanding URDF and XACRO
  https://ni.www.techfak.uni-bielefeld.de/files/URDF-XACRO.pdf

• SDF format
  http://sdformat.org/spec

• Using Gazebo plugins with ROS
  http://gazebosim.org/tutorials?tut=ros_gzplugins

• blog) URDF Reference
  http://enesbot.me/urdf-reference.html

• blog) Gazebo Mobile 로봇 모델 만들기
  https://opentutorials.org/course/2845/16603

• Introduction to Robotics with ROS
  https://u.cs.biu.ac.il/~yehoshr1/89-685/

• Programming for Robotics Introduction to ROS
  https://www.ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/ROS2017/lecture3.pdf

• ROS lecturenote (urdf sdf)
  https://u.cs.biu.ac.il/~yehoshr1/89-685/Fall2015/ROS_Lesson9.pdf