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| srdl_extensions [2013/02/05 13:28] – [Testing requirements on attributes and a components pose and size in prolog] tenorth | srdl_extensions [2013/02/12 17:41] – external edit 127.0.0.1 |
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| The URDL2SRDL importer converts *.urdf-files to the *.owl-file format. This tool was originally developed by Alexander Perzylo. In order to be able to define requirements on a components attributes, it had to also convert these attributes into the SRDL files. | The URDL2SRDL importer converts *.urdf-files to the *.owl-file format. This tool was originally developed by Alexander Perzylo. In order to be able to define requirements on a components attributes, it had to also convert these attributes into the SRDL files. |
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| These attributes are not a part of the URDL description files as such but are added there by Gazebo [http://www.ros.org/wiki/gazebo] in order to use the URDF file to create a functional robot model for simulations. | These attributes are not a part of the URDL description files as such but are added there by [[http://www.ros.org/wiki/gazebo|Gazebo]] in order to use the URDF file to create a functional robot model for simulations. |
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| Gazebo adds these additional attributes in its own <gazebo>...</gazebo>-Tags, which get parsed by the converter, if they are available. The <gazebo>-Tags hold one or more sub-Tags of the form <name>Value</name>, which contain the attributes for a component. They may also contain <controller:...>...</controller:...>-tags or <sensor:...>...</sensor:...>-tags which contain additional information on a specific components function. The <sensor:...>-tags are also used to specify a components type, a <sensor:ray>-Tag for example shows that the according component may be a laser scanner. | Gazebo adds these additional attributes in its own <gazebo>...</gazebo>-Tags, which get parsed by the converter, if they are available. The <gazebo>-Tags hold one or more sub-Tags of the form <name>Value</name>, which contain the attributes for a component. They may also contain <controller:...>...</controller:...>-tags or <sensor:...>...</sensor:...>-tags which contain additional information on a specific components function. The <sensor:...>-tags are also used to specify a components type, a <sensor:ray>-Tag for example shows that the according component may be a laser scanner. |
