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URDF

Purpose​

  • Create a ROS-compatible URDF from this plex.

Usage​

metrical shape urdf [OPTIONS] --root-component <ROOT_COMPONENT> <PLEX_OR_RESULTS_PATH> <OUTPUT_DIR>

Concepts​

Create a URDF from a plex. This URDF is compatible with common ROS operations.

Examples​

Create a URDF from a plex​

metrical shape urdf --root-component ir_one $RESULTS $OUTPUT_DIR

Arguments​

[PLEX_OR_RESULTS_PATH]​

The path to the input plex. This can be a MetriCal results JSON or a plex JSON.

[OUTPUT_DIR]​

The output directory for this shaping operation.

Options​

Universal Options​

As with every mode, all universal options are supported (though not all may be used).

--use-optical-frame​

The use_optical_frame boolean determines whether or not to create a link for the camera frame in the URDF representation of the Plex. If use_optical_frame is true and the component is a camera, a new link for the camera frame is created and added to the URDF. This link represents the optical frame of the camera in the robot model:

base -> camera (FLU) -> camera_optical (RDF)

If use_optical_frame is false, no such link is created. This might be the case if the optical frame is not needed in the URDF representation, or if it's being handled in some other way:

base -> camera (FLU)

-a, --root-component [ROOT_COMPONENT]​

The root component name or UUID to use for the joint transformations in the URDF.