ROS搭建机械臂

学习古月居ROS机械臂课程

保存和加载rviz配置：https://www.theconstructsim.com/ros-qa-125-save-and-load-rviz-configuration/

urdf右手系：

x正方向朝右（红色）， y 正方向向内（绿色）， z轴正方向朝上（蓝色）

检查urdf:

check_urdf ur3.urdf

查看模型结构：

urdf_to_graphiz ur3.urdf

支持的mesh格式：

The meshes can be imported in a number of different formats. STL is fairly common, but the engine also supports DAE, which can have its own color data, meaning you don’t have to specify the color/material. Often these are in separate files. These meshes reference the .tif files also in the meshes folder.

这里的axis定义了关节的旋转轴，与origin中的rpy无关：

<joint name="head_swivel" type="continuous">
    <parent link="base_link"/>
    <child link="head"/>
    <axis xyz="0 0 1"/>
    <origin xyz="0 0 0.3"/>
 </joint>