URDF Configuration Example MoreView sourceHistoryPage

Example Programs

URDF Configuration Example

Summary

This example shows how to add Universal Robot Description Format fragments to your Baxter's robot_description. The Mutable Robot State Publisher which is running onboard the robot will take this fragment, and append it to Baxter's current URDF.

Code Walkthrough

URDF Configuration - Code Walkthrough

Quickstart

The default arguments will pull in the configuration of the supplied Xacro file, construct it as a URDF fragment, and send it into Baxter's Mutable Robot State Publisher.

 $ rosrun baxter_examples send_urdf_fragment.py -f `rospack find baxter_description`/urdf/left_end_effector.urdf.xacro -l left_hand -j left_gripper_base

Usage

Start the joint torque springs example from an RSDK terminal session using:

   $ rosrun baxter_examples send_urdf_fragment.py -f `rospack find baxter_description`/urdf/left_end_effector.urdf.xacro -l left_hand -j left_gripper_base