URDF

Index

• How to export YuMi's URDF from the xacro files
• How to obtain a tree representation of YuMi kinematic chain

How to export YuMi's URDF from the xacro files

First method

Run the following commands in a terminal:

cd $YUMI_WS/src/yumi/yumi_description/urdf/
rosrun xacro xacro yumi.urdf.xacro arms_interface:=VelocityJointInterface grippers_interface:=EffortJoinInterface yumi_setup:=robot_centric -o yumi.urdf

Second method

Run any of the launch files of yumi_launch. Then, in another terminal run

rosrun urdfdom_py display_urdf > yumi.urdf

How to obtain a tree representation of YuMi kinematic chain

Go to the location of the YuMi URDF file you obtained before, and run this command:

urdf_to_graphiz yumi.urdf

A file called "yumi.pdf" should be created after that. It contains the kinematic chain of YuMi.

How to visualize YuMi kinematic chain (published under /tf and /tf_static)

Run the following command:

rosrun rqt_tf_tree rqt_tf_tree