Where to find URDF files

3,574 views

Skip to first unread message

Marco Paladini

unread,

Oct 31, 2013, 6:33:43 AM10/31/13

to moveit...@googlegroups.com

Hi All,

I'm a first time user of MoveIt!, and I have a stumbling block at the very first welcome screen
of the setup assistant.
"Specify an existing URDF or COLLADA file for your robot".

I could, potentially, start writing a URDF file (and I must, at some point)
starting from this page http://wiki.ros.org/urdf/Tutorials

But I'm sure there are so so many URDF out there, I should just be able
to find one for an industrial 6-dof robot arm?
So is there somewhere to look for sample robots? Looking for tried and tested URDF files (or even better, MoveIt configurations) for a quick trial. Any pointers?

p.s. the wiki page http://moveit.ros.org/wiki/PR2/Setup_Assistant/Quick_Start#Pre-requisites must have gotten slightly out of date, because it mentions a "pr2.urdf file you just created" but the installation instructions don't talk about it.
(indeed http://moveit.ros.org/distros/current/w/index.php?search=pr2.urdf&title=Special%3ASearch)

Many thanks,
Marco

Shaun Edwards

unread,

Oct 31, 2013, 10:20:08 AM10/31/13

to Marco Paladini, moveit-users

Marco,

There are quite a few URDFs and moveit packages in the ROS-Industrial repos ( https://github.com/ros-industrial ).

The abb repo has examples of URDFs and moveit packages ( https://github.com/ros-industrial/abb ).

If you are interested in making your own URDF, we have made a tutorial that specifically addresses industrial arms ( http://wiki.ros.org/Industrial/Tutorials/Create%20a%20URDF%20for%20an%20Industrial%20Robot ).