From e35584f258c048ebd85e50da6f5ff2a2a82a7e99 Mon Sep 17 00:00:00 2001 From: simon Date: Wed, 29 Sep 2021 17:40:56 +0200 Subject: [PATCH] added drawing to explain the new data_flow in urdf change diagramme to svg and moved diagramme in ur_description packages update visual in urdf_data_flow.svg Delete urdf_data_flow.drawio.svg:Zone.Identifier supress useless file Delete urdf_data_flow.svg:Zone.Identifier supress useless file supress JPG add description in readme --- ur_description/README.md | 9 +++++++++ ur_description/urdf_data_flow.drawio | 1 + ur_description/urdf_data_flow.svg | 4 ++++ 3 files changed, 14 insertions(+) create mode 100644 ur_description/README.md create mode 100644 ur_description/urdf_data_flow.drawio create mode 100644 ur_description/urdf_data_flow.svg diff --git a/ur_description/README.md b/ur_description/README.md new file mode 100644 index 000000000..6f2dcb754 --- /dev/null +++ b/ur_description/README.md @@ -0,0 +1,9 @@ +# Package Structure +This package has been updated to provide a more flexible way of building URDF for Universal Robot. +All robot parameter are described in the config folder (yaml files). +Those parameter will be used for constructing the robot model. + + + +# DATA FLOW : +![alt text](urdf_data_flow.svg) diff --git a/ur_description/urdf_data_flow.drawio b/ur_description/urdf_data_flow.drawio new file mode 100644 index 000000000..242102083 --- /dev/null +++ b/ur_description/urdf_data_flow.drawio @@ -0,0 +1 @@ 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 \ No newline at end of file diff --git a/ur_description/urdf_data_flow.svg b/ur_description/urdf_data_flow.svg new file mode 100644 index 000000000..4b474f509 --- /dev/null +++ b/ur_description/urdf_data_flow.svg @@ -0,0 +1,4 @@ + + + +
includes
includes
config
config
ur10
ur10
default_kinematics.yaml
default_kinematics.yaml
joint_limits.yaml
joint_limits.yaml
physical_parameters.yaml
physical_parameters.yaml
visual_parameters.yaml
visual_parameters.yaml
pass filepath
as launch arg
pass filepath...
pass filepath as  xacro arg
pass filepath as  xac...
call
call
parse file in config
parse file in config
meshes
meshes
ur10
ur10
collision
collision
visual
visual
link
link
launch
launch
view_ur10.launch
view_ur10.launch
load_ur10.launch
load_ur10.launch
load_ur.launch
load_ur.launch
includes
includes
urdf
urdf
ur.xacro
ur.xacro
ur_macro.xacro
ur_macro.xacro
inc
inc
ur_transmission.xacro
ur_transmission.xacro
ur_common.xacro
ur_common.xacro
read_model_data
read_m...
ur_arm_transmission
ur_arm...
pass filepath as  xacro arg
pass filepath as  xac...
call
call
call
call
pass filepath as  xacro arg
pass filepath as  xac...
Viewer does not support full SVG 1.1
\ No newline at end of file