How do we describe a robot? With URDF! | Getting Ready to build Robots with ROS #7

Рет қаралды 73,465

Күн бұрын

In this video we learn about URDF and how we can use it to describe our robots.
To run the example yourself, check out this repo github.com/joshnewans/urdf_ex...
For more details, see the blog post
articulatedrobotics.xyz/ready...
Music by Bensound.com
00:00 - Intro
01:15 - Links & Joints
04:07 - The URDF Syntax
10:39 - Using xacro to make things easier
15:15 - Stepping through an example
26:55 - Outro

Пікірлер: 92

@MarcusRobertsonTwo 2 жыл бұрын

U R D First person to explain this to me.

@user-ko5zg2ux1m Жыл бұрын

creative

@retsu-h6460 Жыл бұрын

great one!

@williamhall8438 Жыл бұрын

Ohhh daaaaaaaamn!! 🔥 🎆 🎇 Clever! 🙂

@nandhumon2377 4 ай бұрын

Dayumm mofo😂😂😂

@zahidkamil7833 2 жыл бұрын

Finally, I learned URDF in depth! Been searching for a video that covers everything!

@ArticulatedRobotics 2 жыл бұрын

Thanks! I'm glad you found it helpful!

@caljohn1475 Жыл бұрын

Really great video mate, thanks so much for explaining this so simply yet so in depth

@winstondoss1683 11 ай бұрын

You make it easy and clear to understand. Thank you.

@dalitsobanda3317 2 ай бұрын

saving my final grade in robotics rn, excellent series!

@user-xn5fq2zw4u 2 жыл бұрын

What a awesome video!Really hope more like this!

@Cry2DeepLP 8 ай бұрын

These tutorials are gold.

@kleanbot6408 Жыл бұрын

Your work is so helpful. Thanks you so much.

@ryanmckenna2047 8 ай бұрын

Excellent tutorial, many thanks!

@channel_MrL Жыл бұрын

Great tutorial! Very clear and easy to follow :)

@MichielVanzeir 2 жыл бұрын

Thank you so much for all the time you've put into these videos! You're great at explaining these concepts in a simple manner, you saved me hours! I'll definitely be looking forward to seeing more. Also, I don't know how you did it but the animated blueprints in your video are wonderful :)

@ArticulatedRobotics 2 жыл бұрын

Thanks so much! I made the really fancy animations with the fantastic Manim software (github.com/ManimCommunity/manim ) originally created by Grant Sanderson for his channel 3Blue1Brown. Most of my animation is done in the video editor I use (DaVInci Resolve), with the individual graphics created in Manim or Inkscape with transparent backgrounds, and overlaid, masked, transformed, etc.

@markhannibal5434 Жыл бұрын

Clearly explained. Thank you.

@AdityaSingh-iz2wr 2 жыл бұрын

You are a true legend. Your videos are so concise and meticuluous. Absolutely love it!

@ArticulatedRobotics 2 жыл бұрын

Thanks :D

@mtalhaaamir9737 Жыл бұрын

thankyou so much, best URDF explaination Ever. I am glad i found your channel 😇

@alexnd98 Жыл бұрын

Fantastic! Your work is really helpful, thank you for all the effort you put to make concepts simple and clear

@ArticulatedRobotics Жыл бұрын

Thanks!

@araizhaisanbek5912 Ай бұрын

Video is amazing, thank you so much!!!

@mitcaro7310 4 ай бұрын

Fantastic video. Helped a lot. Thank you so much.

@Brain_Robotics 2 жыл бұрын

Awesome video! Really like the content and hope to see more.

@ArticulatedRobotics 2 жыл бұрын

Thanks!

@ToshiLab Жыл бұрын

Excellent video. Clear and concise. Thanks!

@ArticulatedRobotics Жыл бұрын

Thanks!

@user-hq2qt5kx9q 8 ай бұрын

great explaination !!

@Shadow6212 Жыл бұрын

Thank you very much, huge help

@FactorSocial4797 2 жыл бұрын

This is enlightening

@mrechbreger 7 ай бұрын

thank you! This video was really valuable

@gravity9.84 2 жыл бұрын

Finally, Got the video I wanted thank you so much

@MoliasKing Жыл бұрын

Thank you very much!

@user-rm7er4rd8d 2 жыл бұрын

Your video is so cool. I make me clear understand the urdf concept. Thanks!

@ArticulatedRobotics 2 жыл бұрын

Thank you!

@9jatechie Жыл бұрын

Very easy to follow. Great teaching skills. Thanks.

@ArticulatedRobotics Жыл бұрын

Thanks!

@JokeyXVII 2 жыл бұрын

This video is exactly what I was looking for, THANKS

@ArticulatedRobotics 2 жыл бұрын

I'm glad it was helpful!

@xzw3262 Жыл бұрын

really helpful to me , thanks a lot

@Adroitbit 2 жыл бұрын

Very good urdf walkthrough 👍

@ArticulatedRobotics 2 жыл бұрын

Thanks!

@dmytrozota1904 Жыл бұрын

Sir, you saving me years 🤝

@dimitrigraur8345 2 жыл бұрын

Awesome videos, really helpful!

@ArticulatedRobotics 2 жыл бұрын

Thanks!

@35prakashramanathan54 2 жыл бұрын

Great Video

@romandmowski442 Жыл бұрын

Thanks a lot!

@alexlomba7760 2 жыл бұрын

Quality content, keep it up and you'll be big.

@ArticulatedRobotics 2 жыл бұрын

Thanks mate!

@dizogdizog2591 6 ай бұрын

So usefull for beginners!!!!

@wuyanchu 7 ай бұрын

brilliant tutorial, thx and god bless u , regards from hong kong ^_^

@user-sm4sc6iw8h 3 ай бұрын

support from hk x2

@mbunds 7 ай бұрын

Utterly terrifying. I expected ROS to be more complex than plugging-in USB comms to a robot, defining joints, and expecting motion, but this is all next-level stuff! Anybody who becomes comfortable with ROS will have developed very marketable tech skills extending far beyond just robotics...

@sviatoslavkurdydyk 2 жыл бұрын

Thanks for the great video!!

@ArticulatedRobotics 2 жыл бұрын

Thanks!

@Kp61dude_ 2 жыл бұрын

Finally! You are the best.

@ArticulatedRobotics 2 жыл бұрын

Thanks!

@ninav4759 2 жыл бұрын

THANK YOU!!!!!

@xget7745 2 жыл бұрын

Nice explanation :)

@ArticulatedRobotics 2 жыл бұрын

Thanks 🙂

@leonardogarberoglio3611 7 ай бұрын

I'm watching all of your videos, they are really great material!!! maybe you could add stl mesh from solidworks?

@irfanrahadi7487 2 жыл бұрын

Great video about URDF, keep up the good work!

@ArticulatedRobotics 2 жыл бұрын

Thanks!

@akidanis6984 4 күн бұрын

I watched the whole vid, it was super helpful! But i'm still a tad confused on how the origin works for links.

@Waferdicing Жыл бұрын

💗

@ShmeegleSon 11 ай бұрын

woo!

@user-yq5vx4tr1j Жыл бұрын

thanks for your informative video, how would i start to build URDF file for my solidworks CAD model which have 50 parts which inter-related when its on operating condition. I used auto urdf generator for creating such enoromous urdf. which we planned to import it in Coppliasim. Would you give me a tip how to sub assemble such complicated mechanisms and CAD file.

@thomasluk4319 Жыл бұрын

how do you visualizse the robot? after writing the urdf file, do I have to implement my own state_publisher node?

@jithinraj93 2 жыл бұрын

👍

@Gauchland 27 күн бұрын

Sir why did I not find this earlier!?

@do_it_yourself3857 4 ай бұрын

Please I will like to know the software or platform you are using for the accompanying animations while explaining the concepts

@DanielPradoBurgos 11 ай бұрын

Just saw the Chopped Mighty Car Mods sticker haha nooice! 😂

@ArticulatedRobotics 11 ай бұрын

Thanks, I think you might be the first person to notice!!

@arthurcyrillo1113 Жыл бұрын

How can i use the same example at ros1?

@adithyadamarla692 Жыл бұрын

Hi Josh I'm following your videos. I have a doubt which is what is the difference between sdf and urdf files? Can we broadcast the transforms using sdf files? Thanks

@ArticulatedRobotics 11 ай бұрын

SDF and URDF are similar but different formats. Gazebo uses SDF and ROS uses URDF. Typically ROS users write the URDF and Gazebo can automatically convert it to SDF. I am not aware of a way to broadcast transforms with SDF, but someone has probably made it!

@clarenceperdue1638 8 күн бұрын

What is the next video using the robotics arm in a environment,

@johnfrye6290 2 жыл бұрын

Is there any way to lint URDF? I am trying to create a basic motor simulation where the rotor on the motor body rotates. I am following the last tutorial and this one as closely as possible. I have a launch file that puts my parsed URDF robot description into the /robot_description path. When I load my robot model into RVIZ, I get "Status: Error" on the left panel in the GUI but not much more info than that. I am getting a message in terminal where RVIZ is running "Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp". I think this is just a warning and may not be the crux of the problem. My guess is that there is some fault in my URDF. Wondering if I might be able to parse return of Python xacro.process_file(xacro_file) to see if XACRO parsing was successful. Do you have any tips for determining successful conversion of XACRO to XML and whether or not that XML is something RVIZ could understand?

@johnfrye6290 2 жыл бұрын

Okay, just discovered check_urdf command inside of ROS2. My URDF looks good. Not sure if you have any other tips on where I might look. Guess there are forums as well.

@ArticulatedRobotics 2 жыл бұрын

Hi John, sorry you're having issues (and I think you might have had another comment I never replied to somewhere? sorry about that). There are a few options, as you say there is check_urdf (which I didn't know about!). You can also run xacro from the command line and inspect the output to ensure it makes sense. The target frame issue means that you don't have the correct "Fixed frame" selected in the top-left corner of RViz, try switching this to whatever the first link in your URDF is. Let me know how that goes :)

@johnfrye6290 2 жыл бұрын

@@ArticulatedRobotics Added the world tag from your example on the gist, then switched RVIZ to it in the top left like you said. Works great. 👍

@computation9815 10 ай бұрын

im haveing trouble with my urdf for my personle project, where can I go help?

@carloszuna110 10 ай бұрын

are you also trying to launch the package? If so I'm having the same issue let me know if you get it to work any pointers would be appreciated!!!

@MuhammadUmer-rx1np 10 ай бұрын

Hello brother i need the urdf file of multiple swarm robots at least 4 robots I am using ros-noetic and gazebo 11 Please can you help me to send the urdf file

@johnfrye6290 2 жыл бұрын

Is it possible to launch joint_state_publisher_gui using a Python launch script?

@ArticulatedRobotics 2 жыл бұрын

Hey John, sorry I took so long to reply. In case you haven't already figured this one out (or for other viewers), you absolutely can. If you take a look at the launch file github.com/joshnewans/urdf_example/blob/main/launch/rsp.launch.py and substitute the package and executable strings for "joint_state_publisher_gui", and remove the parameters, it should work. Even better, you could copy-paste that whole "Node" construction, give the new variable a different name, and add it to the array in the LaunchDescription at the bottom to run both at once (the whole point of launch scripts). Finally, the best method would be to do something like this github.com/joshnewans/articubot_one/blob/main/launch/launch_sim.launch.py where you have a launch script for just robot_state_publisher, and then a different launch script that includes the rsp launch, and adds the joint publisher gui, or whatever other nodes you like on top :)

@user-hf4su1vt8w 11 ай бұрын

9:47

@AndrewShtogrin Жыл бұрын

Hi I’m trying to run an example but full of struggle. I git clone the urdf_example. After that if I directly try to colcon build from the home depository I got a bunch of warnings and if I go to a workspace directory first, then it starts and finishes urdf_example. But when I try to run ‚ros2 launch urdf_example rsp.launch.py‘ I get package ‚urdf_example‘ not found: searching [‚opt/ros/foxy‘]

@31.isnandaruprasetyo82 10 ай бұрын

anybody can explain about this issues?? i got same problem here

@carloszuna110 10 ай бұрын

@@31.isnandaruprasetyo82Have you tried sourcing the workspace? “source install/setup.bash” I got the same error and I added this and it worked for me He also goes through the steps on the next video and he even includes the sourcing command as well.