Creating the URDF file for an ordinary robot and industrial robot are the same, but in industrial robots, there are some standards that should be strictly followed during its URDF modeling, which are as follows:
- Simplify the URDF design: The URDF file should be simple and readable and only need the important tags
- Common design: Developing a common design formula for all industrial robots by various vendors
- Modularizing URDF: The URDF needs to modularize using XACRO macros and it can be included in a large URDF file without much hassle.
The following points are the main difference in the URDF design followed by ROS-I.
- Collision-Aware: The industrial robot IK planners are collision aware so the URDF should contain accurate collision 3D mesh for each link. Every link in the robot should export to STL or DAE with a proper coordinate system. The coordinate system which ROS-I is following are X-axis pointing forward and Z-axis pointing up when each joint is in...