xml_based_urdfparser

a python urdf parser based on xml minidom The library is generic (urdf.py and gazeboUrdf.py) The conversion script is specific to Aldebaran Robots (nao, romeo)

Features

Generate urdf and xacro files for aldebaran robots (using Aldebaran URDFs as input files https://github.com/keulYSMB/nao_robot/tree/devel/nao_description/bin) Automatic generation of the entire URDF file or of specific parts of the robot as xacro files.

Dependencies

• xml.dom
• argparse
• subprocess
• the library provided in this package
• nao_meshes package if you want the official Aldebaran meshes

Install

Download nao_meshes:

• Download https://github.com/vrabaud/nao_meshes/blob/master/binaries/naomeshes-0.6.2-linux-x64-installer.run
• run the installer : this will extract a catkin package named nao_meshes at the chosen location

Download Nao_Original_URDF:

• Download https://github.com/keulYSMB/AldebaranURDF/blob/master/bin/naourdf-0.6-linux-x64-installer.run
• run the installer : this will extract the NAOH25V40.urdf file at the chosen location

Download xml_urdf_parser package

• clone the xml_urdf_parser catkin package : https://github.com/keulYSMB/xml_urdf_parser

Update your workspace

• run rospack profile in your workspace to index nao_meshes and xml_urdf_parser

How to use it

• rosrun xml_urdf_parser modify_urdf -i PATH/TO/OFFICIAL/ALDEBARAN/URDF -o PATH/TO/OUTPUT/URDF/FILE -m Type of mesh ("dae" for gazebo, "mesh" for rviz) -x xacrofiles wanted : ("urdf" for a complete URDF file, "robot" for all the kinematics chains of the robot, "legs" for legs kinematics chains, "arms" for arms kinematics chains...)
• generate the urdf (if -x != "urdf") : rosrun xacro xacro.py PATH/TO/OUTPUT/URDF/FILErobot.xacro > /WANTED/URDF/FILE/LOCATION

Visualize the results:

• RVIZ : roslaunch xml_urdf_parser display_meshes.launch model:=PATH/TO/URDF/FILE gui:=true
• Gazebo: rosrun gazebo_ros spawn_model -file /home/marguedas/Documents/URDF_XACRO/nao.urdf -urdf -x 0 -y 1 -z 0.5 -model nao

Changes

07/03/2014

• recatkinized package : update init.py, CMakeLists.txt
• add sonar frames to urdf generation
• bugfix : path of included files in ..robot.xacro file

TODO

• add transmission to urdf + ros_controller to perform real simulation
• get finger Frames and SensorFrames from aldebaran documentation
• fix joints:
  • get L/RHand from documentation : limits
  • mimic joints for pelvis and fingers : add libroboticsgroup_gazebo_mimic_joint_plugin.so
• we can parse gazebo tags, we still need to add the following automatically:
  • mimic joints :libroboticsgroup_gazebo_mimic_joint_plugin.so
  • disable link : libroboticsgroup_gazebo_disable_link_plugin.so
  • ROS control : libgazebo_ros_control.so

Missing Resources

• Finger and toes frames from Aldebaran doc
• Transmission elements
• Missing mimic joints (we can add them by hand for know)