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doc:create_srdl_model [2013/06/28 12:48] – [Create an SRDL model of your robot] admin | doc:create_srdl_model [2014/11/27 17:09] – admin | ||
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====== Create an SRDL model of your robot ====== | ====== Create an SRDL model of your robot ====== | ||
+ | ~~NOTOC~~ | ||
- | The Semantic Robot Description Language (SRDL) is a logical language for describing robot hardware, software and capabilities. It is part of the KnowRob | + | \\ |
+ | ^ This page describes | ||
+ | \\ | ||
- | Several SRDL models for popular robots (e.g. PR2, Baxter, TUM-Rosie, Amigo) are already contained in the mod_srdl package in the KnowRob stack. In order to facilitate the creation of an SRDL model for a new robot, there is a converter by A. Perzylo and P.Freyer that can read an [[http:// | + | The Semantic Robot Description Language (SRDL) is a logical language for describing robot hardware, software and capabilities. More information on the usage of SRDL for modeling a robot, for answering queries about its hardware configuration and for checking requirements of actions on robot components can be found on [[/ |
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+ | Several SRDL models for popular robots (e.g. PR2, Baxter, TUM-Rosie, Amigo) are already contained in the mod_srdl package in the KnowRob stack. In order to facilitate the creation of an SRDL model for a new robot, there is a converter by A. Perzylo and P. Freyer that can read an [[http:// | ||
* Kinematic structure including coordinate transformations | * Kinematic structure including coordinate transformations | ||
* Planning groups defined for the move_arm stack, which semantically group links to e.g. arms or hands | * Planning groups defined for the move_arm stack, which semantically group links to e.g. arms or hands | ||
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* Some properties are not converted (e.g. mesh origin, joint axis) | * Some properties are not converted (e.g. mesh origin, joint axis) | ||
* The pose matrices are asserted as static, i.e. they do not use KnowRob' | * The pose matrices are asserted as static, i.e. they do not use KnowRob' | ||
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+ | |||
===== Usage ===== | ===== Usage ===== | ||
+ | The URDF2SRDL program is part of the knowrob_srdl package in KnowRob. You can call the converter with arguments such as | ||
+ | $ rosrun knowrob_srdl URDF2SRDL | ||
+ | -u ./ | ||
+ | -s PR2.owl | ||
+ | -i http:// | ||
+ | -c move_base, | ||
+ | -g ./ | ||
+ | | ||
+ | The converter supports the following command-line arguments: | ||
+ | * **-h, --help** | ||
+ | * **-u, --urdf** | ||
+ | * **-s, --srdl** | ||
+ | * **-i, --uri** | ||
+ | * **-c, --caps** | ||
- | bin/ |