Environment: Ubuntu16.04 ros-kinetic; windows solidwork19
Source: Through the three-dimensional model, how can we calculate the positional relationship of each link without any effort?
Empirical knowledge to understand: The link position definition of urdf belongs to the child link defined by the coordinate system of the parent link; there is no special requirement, and the joint position and the geometric center of the link are superimposed together. This habit can improve the writing efficiency.
Quickly define the position of the link on urdf:
create the geometric center point of each part in the sw three-dimensional model (sw-insert-reference coordinate system-xxx); then use the measurement tool on the sw to measure the relative xyz value. It's that simple to get the location definition of each link.
A simple summary of experience:
(1) For irregular parts, the geometric center of the part can be obtained by using the largest rectangular body including the geometric center point of the rectangular body;
(2) When writing urdf, generally link important parts directly Link to base_link; for parts without special requirements, coincide the position of the joint with the geometric center of the part link.
ps: For those who need to strengthen the imagination of space, you can refer to this method to create urdf, which is quite simple.
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Good memory is not as good as bad
writing'–20200811